Title :
Redundancy and non-linearity measures for robot manipulators
Author :
van den Doel, Kees ; Pai, Dinesh K.
Author_Institution :
Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
Abstract :
We investigate two new classes of performance measures. The first class quantifies the ability of a redundant manipulator to reconfigure itself while keeping the end-effector at a fixed position. The second measures the nonlinearity of the manipulator. We derive these measures using the differential-geometric formalism we introduced previously (1993)
Keywords :
control nonlinearities; differential geometry; performance evaluation; redundancy; robots; differential-geometric formalism; end-effector; nonlinearity measures; performance measures; redundancy; redundant manipulator; robots; Computer science; Design optimization; Displacement measurement; Extraterrestrial measurements; Intelligent robots; Kinematics; Manipulators; Orbital robotics; Performance evaluation; Tensile stress;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351188
