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RISGeneration of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper shows how to generate underactuated manipulators by substituting nonholonomic spherical pairs for (holonomic) spherical pairs in ordinary (i.e. not underactuated) manipulators. As a case ...