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
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;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2009.2019146
