| contributor author | Tsuneo Yoshikawa | |
| contributor author | Shigeo Kiriyama | |
| date accessioned | 2017-05-08T23:29:34Z | |
| date available | 2017-05-08T23:29:34Z | |
| date copyright | June, 1989 | |
| date issued | 1989 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26111#200_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/105174 | |
| description abstract | It is known that conventional three-joint wrists of robot manipulators have two conical regions of degeneracy in which the ability of the wrist to orient the end-effector is poor, A four-joint wrist mechanism is proposed in this paper as a means of overcoming this degeneracy problem. The manipulating ability of this wrist with respect to the end-effector orientation is analyzed using the manipulability measure. A pseudoinverse control algorithm for this redundant wrist mechanism is developed and its effectiveness is shown by experiments. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Four-Joint Redundant Wrist Mechanism and Its Control | |
| type | Journal Paper | |
| journal volume | 111 | |
| journal issue | 2 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3153037 | |
| journal fristpage | 200 | |
| journal lastpage | 204 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1989:;volume( 111 ):;issue: 002 | |
| contenttype | Fulltext | |