Abstract: In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist ...

Abstract: Reconfigurable robotic hands can constitute one of the future trends of dexterous manipulator design, as they can strike a balance between precision, force exertion, flexibility, and adaptability. However, the feasible ...