For manipulator, why boundedness of the inertia matrix require all the joints to be revolute?

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Mohamed-Mourad Lafifi

Dear Nagamanikandan,

To help you understand the question before you, I suggest you review the following references:

-Proceedings - AzC IFToMM 2010

azciftomm2010.iyte.edu.tr/includes/proceedings.pdf

-Robot Manipulators, New Achievements

www.zums.ac.ir/files/.../site/.../Robot%20Manipulators,%20New%20Achievements.pd...

Best regards

Santhakumar Mohan

It does not related with units and all, usually robot manipulators in most of the books are discussed with rotary joints and it does not restrict anything related to joints.

If you have time, please read Prof.S.K.Saha's book or Prof.Ghosal's book you will find the answer and if you are not satisfied you can write a mail to them. They will give you further answers.

All the best