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Definition of "end-effector" |
a part found at the free end of the chain of the links which form a manipulator. Position and orientation of the manipulator are referred to the end effector. The frame attached the end-effector is known as end-effector frame. The endeffector can be a gripper or it can be attached to the end-effector. The orthonormal end-effector frame consists of three unit vectors a-approach (it approaches the object) oorientation (which is normal to the sliding plane between the fingers of the gripper), and n-normal vector to two others so that the frame (n, o, a) is right-handed. |
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