Definition, determination and characterization of acceleration sets for spatial manipulators Yong-yil Kim Subhas Desa 10.1184/R1/6552506.v1 https://kilthub.cmu.edu/articles/journal_contribution/Definition_determination_and_characterization_of_acceleration_sets_for_spatial_manipulators/6552506 Abstract: "In this report the approach developed by the authors, for systematically studying the acceleration capabilites and acceleration properties of the end-effector of a planar 2 degree-of-freedom manipulator, is extended to the general spatial manipulator with three degrees-of-freedom. A central feature of this report is the determination of the properties of the quadratic mapping between the "joint-velocity" space and the acceleration space of P which then makes it possible to obtain analytical solutions for most acceleration properties of interest. We show that a fundamental way of studying these quadratic mappings is in terms of the mapping of (input) line congruences into (output) line congruences." 1989-01-01 00:00:00 Manipulators (Mechanism) Robotics.