Date of Original Version

1989

Type

Technical Report

Rights Management

All Rights Reserved

Abstract or Description

Abstract: "In this report the approach developed by the authors, for systematically studying the acceleration capabilites and acceleration properties of the end-effector of a planar 2 degree-of-freedom manipulator, is extended to the general spatial manipulator with three degrees-of-freedom. A central feature of this report is the determination of the properties of the quadratic mapping between the "joint-velocity" space and the acceleration space of P which then makes it possible to obtain analytical solutions for most acceleration properties of interest. We show that a fundamental way of studying these quadratic mappings is in terms of the mapping of (input) line congruences into (output) line congruences."

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