A Novel Method of Dexterity Analysis for a 5-DOF Manipulator

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/8901820/figures/8901820.fig.004a.svgz" name="8901820.fig.004a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Mapping envelope</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/8901820/figures/8901820.fig.004b.svgz" name="8901820.fig.004b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Mapping relationship</td></tr></table>

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Journal of Robotics

A Novel Method of Dexterity Analysis for a 5-DOF Manipulator

Figure 4