Singularity parametrization with a novel kinematic decoupled model for non-spherical wrist robots
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DOI: 10.1115/1.4062586
Abstract: Most of the current commercial collaborative robots present a non-spherical wrist, so they cannot utilize singularity handling techniques efficiently to avoid excessive safety stops while dynamically avoiding collisions. These robots usually require heavier algorithms due… read more here.
Keywords: singularity; non spherical; spherical wrist; model ... See more keywords