A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundancy

Abstract

We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance measures, namely condition number and manipulability measure allowed to change configurations, causing repeatability problems and discontinuity effects. The new measure, on the other hand, assures that the arm solution remains in the same configuration, thus effectively preventing these problems. Keywords: Systems approach.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1988
Accession Number
ADA196223

Entities

People

  • Pyung H. Chang

Organizations

  • Massachusetts Institute of Technology

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Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algebra
  • Artificial Intelligence
  • Boundaries
  • Cartesian Coordinates
  • Collision Avoidance
  • Control
  • Coordinate Systems
  • Discontinuities
  • Equations
  • Geometry
  • Linear Algebra
  • Linear Systems
  • Numbers
  • Simulations
  • Theorems
  • Three Dimensional
  • Trajectories

Readers

  • Fluid Dynamics.
  • Organizational Process Management (OPM).
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy