RESEARCH PAPERS: Robotics Papers

On the Dexterity of Robotic Manipulators—Service Angle

[+] Author and Article Information
D. C. H. Yang, Z. C. Lai

Mechanical, Aerospace and Nuclear Engineering Dept., University of California, Los Angeles, CA 90024

J. Mech., Trans., and Automation 107(2), 262-270 (Jun 01, 1985) (9 pages) doi:10.1115/1.3258719 History: Received December 07, 1984; Online November 19, 2009


This paper presents a theoretical study on the dexterity problem of 6R manipulators. Particularly, it deals with the manipulator’s service angle around a reachable point in space. The first part conceptualizes the ideas of service region, free service region and polarities of robots, and shows that the entire service angle can be categorized into a number of free service regions. The remainder of the paper deals with the investigation of basic properties of free service regions. The relationship between free service regions and service angle is subsequently formulated into a set of theorems and criteria. Specific examples are given for illustration.

Copyright © 1985 by ASME
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In