The Kinematic Control Equations of a Singularity-Free Six-Degree-of-Freedom Manipulator

[+] Author and Article Information
F. Di Caprio, M. M. Stanišić

Aerospace and Mechanical Engineering Department, University of Notre Dame, Notre Dame, IN 46556

J. Mech. Des 116(1), 17-21 (Mar 01, 1994) (5 pages) doi:10.1115/1.2919343 History: Received January 01, 1991; Revised January 01, 1992; Online June 02, 2008


In this paper, one symmetrically actuated double pointing system is used in the shoulder subassembly, and another is used in the wrist subassembly of a six-degree-of-freedom manipulator. In a previous paper, this manipulator was shown to be free of singularities. In this paper, the position control equations are derived.

Copyright © 1994 by The American Society of Mechanical Engineers
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