Abstract
Discussed in this paper is the existence of isotropy points in the end effector of 3-revolute manipulators with a given architecture at a given posture. We show that, in general, such points are not possible. Moreover, when these points occur, they are not unique. The results of this discussion should find applications in manipulator design, manipulator control, and in trajectory planning.
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© 1994 Springer Science+Business Media Dordrecht
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Husty, M.L., Angeles, J. (1994). Kinematic Isotropy in 3R Positioning Manipulators. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_18
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DOI: https://doi.org/10.1007/978-94-015-8348-0_18
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4434-1
Online ISBN: 978-94-015-8348-0
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