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

dc.creator	Chang, Pyung H.
dc.date	2004-10-04T14:36:54Z
dc.date	2004-10-04T14:36:54Z
dc.date	1988-02-01
dc.date.accessioned	2013-10-09T02:42:34Z
dc.date.available	2013-10-09T02:42:34Z
dc.date.issued	2013-10-09
dc.identifier	AIM-1021
dc.identifier	http://hdl.handle.net/1721.1/6049
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	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.
dc.format	52 p.
dc.format	4660106 bytes
dc.format	1835698 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-1021
dc.subject	redundant manipulators
dc.subject	dexterity measure
dc.subject	kinematics
dc.title	A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundany

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