An End-Effector Wrist Module for the Kinematically Redundant Manipulation of Arm-Type Robots
Yu-Hsiang Chang,Yen-Chun Liu,Chao-Chieh Lan,Yu-Hsiang Chang,Yen-Chun Liu,Chao-Chieh Lan
Industrial arm-type robots have multiple degrees-of-freedom (DoFs) and high dexterity but the use of the roll-pitch-roll wrist configuration yields singularities inside the reachable workspace. Excessive joint velocities will occur when encountering these singularities. Arm-type robots currently don't have enough dexterity to move the end-effector path away from the wrist singularities. Robots wit...
