Trajectory Planning in Task Space for General Manipulators
Kuen-Cheng Tsai, D. Kohli · Journal of Mechanical Design · 1993
This paper contains two new works, namely (i) general task space structure of any n d.o.f. manipulator, and (ii) general procedure of determining admissibility of paths in task space for general manipulators. Several examples are presented to illustrate the general theory.