The Redundant SPRPP Manipulator

I. Juárez Campos and M. Ramírez Méndez (Mexico)


Robotics, Inverse Kinematics, Manipulator.


The SBMF7 family is a set containing a sort of open spatial kinematic chains named as screw-based or helicoidal manipulators having 7 degrees of freedom. It possesses the PPSPP, RRSPP, RPSPP and the SPRPP arrangements. This paper presents the main characteristics dealing with the redundant SPRPP arrangement and the corresponding inverse kinematics.

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