A Classification of 6R Manipulators
Robotics
2007-05-23 v1
Abstract
This paper presents a classification of generic 6-revolute jointed (6R) manipulators using homotopy class of their critical point manifold. A part of classification is listed in this paper because of the complexity of homotopy class of 4-torus. The results of this classification will serve future research of the classification and topological properties of maniplators joint space and workspace.
Cite
@article{arxiv.cs/0612029,
title = {A Classification of 6R Manipulators},
author = {Ming-Zhe Chen},
journal= {arXiv preprint arXiv:cs/0612029},
year = {2007}
}
Comments
4 pages