Title :
A kinematic criterion for the design analysis of manipulator wrist mechanisms
Author :
Mayorga, R.V. ; Ressa, B. ; Wong, A.K.C.
Author_Institution :
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Abstract :
The authors (1990) have shown that from the Jacobian rate of change matrix is it possible to derive a dexterity measure for robot manipulators. In this article this criterion is further extended for its application on the evaluation of several redundant wrist mechanisms for a commercial manipulator design.<>
Keywords :
kinematics; manipulators; matrix algebra; redundancy; Jacobian rate of change matrix; design analysis; dexterity measure; kinematic criterion; manipulator wrist mechanisms; redundant wrist mechanisms; Guidelines; Jacobian matrices; Kinematics; Manipulators; Performance analysis; Performance evaluation; Robots; Singular value decomposition; System analysis and design; Wrist;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240573
