RESEARCH PAPERS: Robotics Papers

Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom

[+] Author and Article Information
F. L. Litvin, T. Costopoulos, V. Parenti Castelli, M. Shaheen, Y. Yukishige

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

J. Mech., Trans., and Automation 107(2), 179-188 (Jun 01, 1985) (10 pages) doi:10.1115/1.3258707 History: Received June 13, 1984; Online November 19, 2009


The methods discussed in Part 1 of this paper are applied for the determination of all potential configurations of manipulator links and the execution of prescribed trajectories. The research is performed for manipulators having five, seven, and eight degrees of freedom.

Copyright © 1985 by ASME
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