Title :
Translational and Rotational Manipulability of Robotic Manipulators
Author :
Yoshikawa, Tsuneo
Author_Institution :
Division of Applied Systems Science, Faculty of Engineering, Kyoto University, Uji, Kyoto 611, Japan
Abstract :
Based on the idea of separating the total manipulability measure into translational and rotational manipulability measures, several results that are useful for analyzing robotic mechanisms from the viewpoint of manipulability measure are presented.
Keywords :
Design engineering; Ellipsoids; End effectors; Manipulators; Matrix decomposition; Performance analysis; Robots; Rotation measurement; Size measurement; Velocity measurement;
Conference_Titel :
American Control Conference, 1990
Conference_Location :
San Diego, CA, USA
