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dc.contributor.authorChang, Pyung H.en_US
dc.date.accessioned2004-10-04T14:36:54Z
dc.date.available2004-10-04T14:36:54Z
dc.date.issued1988-02-01en_US
dc.identifier.otherAIM-1021en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/6049
dc.description.abstractWe 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, caused 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.en_US
dc.format.extent52 p.en_US
dc.format.extent4660106 bytes
dc.format.extent1835698 bytes
dc.format.mimetypeapplication/postscript
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.relation.ispartofseriesAIM-1021en_US
dc.subjectredundant manipulatorsen_US
dc.subjectdexterity measureen_US
dc.subjectkinematicsen_US
dc.titleA Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundanyen_US


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