A Classification of 6R Manipulators

Details A Classification of 6R Manipulators A Classification of 6R Manipulators

2006-12-05

arxiv.org/abs/cs/0612029v1

Computer Science

Robotics

4 pages

Scientific paper

This paper presents a classification of generic 6-revolute jointed (6R) manipulators using homotopy class of their critical point manifold. A part of classification is listed in this paper because of the complexity of homotopy class of 4-torus. The results of this classification will serve future research of the classification and topological properties of maniplators joint space and workspace.

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