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

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/6049

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DC Field	Value	Language
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	-
Appears in Collections:	MIT Items

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