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Redundant Manipulator Self-Motion Topology Under Joint Limits with an 8-DOF Case StudyThis paper investigates the topology of self-motion manifolds for serial redundant manipulators with revolute joints in the presence of joint limits. It is known that the preimages of singular taskpoints divide the configuration space into regions where self-motion manifolds are homotopic.
Document ID
20060039059
Acquisition Source
Jet Propulsion Laboratory
Document Type
Preprint (Draft being sent to journal)
External Source(s)
Authors
Luck, C. L.
Lee, S.
Date Acquired
August 23, 2013
Publication Date
July 1, 1993
Distribution Limits
Public
Copyright
Other
Keywords
joint limits semi-singularity co-regular surfaceshomotopy

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