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Singularities in mechanisms II - trajectory tracking in the 3-axis wrist

DSpace at IIT Bombay

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Title Singularities in mechanisms II - trajectory tracking in the 3-axis wrist
 
Creator SHANKAR, S
 
Description This paper classifies, up to a natural equivalence, 3-axis wrists given by rotations about some three fixed directions. Such wrists admit the 2-torus as a group of symmetries. These symmetries are useful in describing the singularities of this mechanism, and in solving the trajectory tracking problem. (C) 1998 . .
 
Publisher PERGAMON-ELSEVIER SCIENCE LTD
 
Date 2011-08-26T13:00:44Z
2011-12-26T12:57:27Z
2011-12-27T05:41:24Z
2011-08-26T13:00:44Z
2011-12-26T12:57:27Z
2011-12-27T05:41:24Z
1999
 
Type Article
 
Identifier MECHANISM AND MACHINE THEORY, 34(4), 513-526
0094-114X
http://dx.doi.org/10.1016/S0094-114X(98)00036-6
http://dspace.library.iitb.ac.in/xmlui/handle/10054/11318
http://hdl.handle.net/10054/11318
 
Language en