Dexterity of underactuated six degrees of freedom three dimensional redundant manipulators

Samer Yahya, Haider Abbas Almurib, Mahmoud Moghavvemi


We quantify the dexterity of underactuated robot manipulators equipped with active and passive joints. We discuss the harnessing of redundant degrees of freedom in a robotic manipulator in order to keep it in service. We assume that the passive joints are locked at an arbitrary known position. There are three important dexterity measures: workspace volume, reachability, and manipulability. We discuss the workspace volume of a six degrees of freedom, three dimensional, redundant manipulator with an arbitrarily located passive joint.



Underactuated manipulators, fault tolerance, dexterity measure

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ANZIAM Journal, ISSN 1446-8735, copyright Australian Mathematical Society.