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A robotic manipulator operating within a confined space ideally positions its end-effector with minimal spatial displacement of each link. Achieving certain poses can require a large overall displacement of the hardware. This work investigates the effect of an additional degree of freedom (DOF) at the end-effector of a KUKA LBR iiwa14 arm by assessing the space occupied by the arm during 6 manipulation tasks and the dexterity of the arm within its workspace.
|Title of host publication||UKRAS21 Conference: “Robotics at home” Proceedings, 2nd June 2021|
|Number of pages||2|
|Publication status||Published - 2 Jun 2021|
- Dexterous Manipulators
- Path Planning
- Workspace Analysis
- Constrained Motion
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