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A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundany

We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance measures, namely condition number and manipulability measure allowed to change configurations, caused repeatability problems and discontinuity effects. The new measure, on the other hand, assures that the arm solution remains in the same configuration, thus effectively preventing these problems.

Identiferoai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/6049
Date01 February 1988
CreatorsChang, Pyung H.
Source SetsM.I.T. Theses and Dissertation
Languageen_US
Detected LanguageEnglish
Format52 p., 4660106 bytes, 1835698 bytes, application/postscript, application/pdf
RelationAIM-1021

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