In this paper, one symmetrically actuated double pointing system is used in the shoulder subassembly, and another is used in the wrist subassembly of a six-degree-of-freedom manipulator. In a previous paper, this manipulator was shown to be free of singularities. In this paper, the position control equations are derived.

Issue Section:
Research Papers
Topics:
Kinematics, Manipulators, Position control
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Copyright © 1994
 by The American Society of Mechanical Engineers
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