Optimum Kinematic Design for a Seven Degree of Freedom Manipulator
نویسنده
چکیده
While today’s general purpose manipulators contain six degrees of freedom, effective reduction in degrees of freedom occurs from singularity regions and from workspace obstacles. It is argued that the future general purpose manipulators will contain seven degrees of freedom, and that one particular kinematic design is superior to other possible 7 degree of freedom kinematic designs. Considerations of elimination of singularities, mechanical realizability, kinematic simplicity, and workspace shape are taken into account in arriving at this design.
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