The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator

The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator

For a grasping task planner, the pre-planning of the reachable tip pose in a manipulator’s workspace is important. On this basis, for a seven-degree-of-freedom (7-DOF) redundant manipulator, it is very meaningful to study how to give full play to its redundant characteristics to achieve more dextero...

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Bibliographic Details
Main Authors: Yuan Quan, Chong Zhao, Congmin Lv, Ke Wang, Yanlin Zhou
Format: Article
Language:English
Published: MDPI AG 2022-11-01
Series:Machines
Subjects:
redundant manipulator
grasping task
redundant parameter
dexterity
reachability
Online Access:https://www.mdpi.com/2075-1702/10/11/1038

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