• DocumentCode
    748858
  • Title

    Kinestatic Analysis of Nonsingular Lower Mobility Manipulators

  • Author

    Hong, Man Bok ; Choi, Yong Je

  • Author_Institution
    Dept. of Mech. Eng., Yonsei Univ., Seoul, South Korea
  • Volume
    25
  • Issue
    4
  • fYear
    2009
  • Firstpage
    938
  • Lastpage
    942
  • Abstract
    This paper presents a method of determining exact solutions to kinestatic analyses of lower mobility manipulators by means of the reciprocal Jacobian. The existence and uniqueness of the reciprocal Jacobian are shown, which enables the complete kinestatic analyses of both serial and fully parallel manipulators in a unified way, as well as the derivation of the constraints on the end-effector twist and wrench.
  • Keywords
    Jacobian matrices; end effectors; manipulator kinematics; mobile robots; end-effector twist; end-effector wrench; kinestatic analysis; nonsingular lower mobility manipulator; parallel manipulator; reciprocal Jacobian matrix; serial manipulator; Jacobian matrix; kinestatic analysis; lower mobility manipulator; reciprocal Jacobian matrix;
  • fLanguage
    English
  • Journal_Title
    Robotics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1552-3098
  • Type

    jour

  • DOI
    10.1109/TRO.2009.2019146
  • Filename
    4838886
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=748858