• DocumentCode
    2529626
  • Title

    Manipulability and redundancy control of robotic mechanisms

  • Author

    Yoshikawa, Tsuneo

  • Author_Institution
    Kyoto University, Uji, Kyoto, Japan
  • Volume
    2
  • fYear
    1985
  • fDate
    31107
  • Firstpage
    1004
  • Lastpage
    1009
  • Abstract
    The concept of manipulability measure of robotic mechanisms is discussed. This is a measure of manipulating ability of robotic mechanisms in positioning and orienting the end-effectors. Some properties of this measure are established and the best postures of various types of manipulators from the viewpoint of this measure are given. A four-joint wrist mechanism is also analyzed with respect to its manipulability, and a control algorithm for this redundant mechanism is developed.
  • Keywords
    Algorithm design and analysis; Automatic control; Jacobian matrices; Laboratories; Manipulators; Position measurement; Robot control; Robot kinematics; Robotics and automation; Wrist;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation. Proceedings. 1985 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ROBOT.1985.1087283
  • Filename
    1087283
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2529626