Geometric Jacobians Derivation and Kinematic Singularity Analysis for Smokie Robot Manipulator & the Barrett WAM

This paper discusses deriving geometric jacobians and identifying and analyzing the kinematic singularities for two 6 DOF arm robots. First we show the direct kinematics and D-H parameters derived for these two arms. The Geometric jacobian is computed for Barrett WAM and Smokie OUR. By analyzing the...

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Bibliographische Detailangaben

1. Verfasser:	Abdolmalaki, Reza Yazdanpanah
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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