End-Effector Mobility for Manipulators in Confined Spaces

Kat L Styles*, Thomas Bligh Scott , Antonia Tzemanaki

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

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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.
Original languageEnglish
Title of host publicationUKRAS21 Conference: “Robotics at home” Proceedings, 2nd June 2021
Number of pages2
Publication statusPublished - 2 Jun 2021


  • Dexterous Manipulators
  • Path Planning
  • Workspace Analysis
  • Constrained Motion


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