Kinematics of Robot Wrists

摘要

Robots for use in assembly and other interactive tasks must be able to respond to both forces and velocity com mands within their workspace. By considering a general six-joint robot we show that all such robots are limited in their ability to respond in orientation to feedback commands. We also show that it is simple to predict, if not to avoid, these regions of degeneracy in which the manipulator loses a degree of freedom.