ROBOT MANIPULATABILITY

Authors
DOTY KL MELCHIORRI C SCHWARTZ EM BONIVENTO C
Citation
Kl. Doty et al., ROBOT MANIPULATABILITY, IEEE transactions on robotics and automation, 11(3), 1995, pp. 462-468
Citations number
22
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
11
Issue
3
Year of publication
1995
Pages
462 - 468
Database
ISI
SICI code
1042-296X(1995)11:3<462:RM>2.0.ZU;2-Y
Abstract
This paper demonstrates fundamental problems with dexterity measures f ound throughout the robotics literature and offers a methodology for c orrecting those problems. Measures of robot dexterity derived from eig envalues, eigenvectors, similarity transformations, singular-value dec ompositions and the Moore-Penrose inverse of the manipulator Jacobian do not have invariant physical meaning. The paper presents manipulabil ity ellipsoids and manipulability screw-subspaces for both redundant a nd nonredundant manipulators.