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Information Technology Journal
  Year: 2014 | Volume: 13 | Issue: 3 | Page No.: 560-565
DOI: 10.3923/itj.2014.560.565
 
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The 7-DOF Automatic Fiber Placement Manipulator’s Self-motion Manifold

Ge Xinfeng Li Ruihua

Abstract:
In order to resolve the inverse kinematics of the redundant robotic manipulator, the position space manifold and orientation space manifold are defined; the redundant manipulator’s self-motion manifold can be obtained by pairing the position space manifold and orientation space manifold. The 7-DOF automatic fiber placement manipulator’s inverse kinematics are analyzed using position space manifold and orientation space manifold, self-motion manifold of it can be obtained by matching the position space manifold and orientation space manifold, the simulation results show that manipulator’s self-motion manifold is correct by this method and this method is also applicable in analyzing the self-motion manifold of the other type redundant manipulator.
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How to cite this article:

Ge Xinfeng Li Ruihua , 2014. The 7-DOF Automatic Fiber Placement Manipulator’s Self-motion Manifold. Information Technology Journal, 13: 560-565.

DOI: 10.3923/itj.2014.560.565

URL: https://scialert.net/abstract/?doi=itj.2014.560.565

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