Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom

Litvin, F. L.; Costopoulos, T.; Parenti Castelli, V.; Shaheen, M.; Yukishige, Y.

doi:10.1115/1.3258707

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Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom

F. L. Litvin,

F. L. Litvin

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

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T. Costopoulos,

T. Costopoulos

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

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V. Parenti Castelli,

V. Parenti Castelli

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

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M. Shaheen,

M. Shaheen

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

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Y. Yukishige

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

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Author and Article Information

F. L. Litvin

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

T. Costopoulos

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

V. Parenti Castelli

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

M. Shaheen

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

Y. Yukishige

Robotics and Automation Laboratory, Dept. of Mechanical Engineering, University of Illinois, Chicago, Illinois

J. Mech., Trans., and Automation. Jun 1985, 107(2): 179-188 (10 pages)

https://doi.org/10.1115/1.3258707

Published Online: June 1, 1985

The methods discussed in Part 1 of this paper are applied for the determination of all potential configurations of manipulator links and the execution of prescribed trajectories. The research is performed for manipulators having five, seven, and eight degrees of freedom.

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