Trajectory Planning in Task Space for General Manipulators

[+] Author and Article Information
K. Y. Tsai, D. Kohli

Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI

J. Mech. Des 115(4), 915-921 (Dec 01, 1993) (7 pages) doi:10.1115/1.2919287 History: Received February 01, 1991; Online June 02, 2008


This paper contains two new works, namely (i) general task space structure of any n d.o.f. manipulator, and (ii) general procedure of determining admissibility of paths in task space for general manipulators. Several examples are presented to illustrate the general theory.

Copyright © 1993 by The American Society of Mechanical Engineers
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