Dexterity measure for trajectory planning and kinematic design of redundant manipulators

S. Tadokoro, I. Kimura, T. Takamori

Research output: Contribution to conferencePaperpeer-review

10 Citations (Scopus)

Abstract

A novel measure for end-effector dexterity called stochastic manipulability is proposed. This index is based on a kinematic value that is invariable according to the degrees of freedom (DOFs) of manipulator mechanisms and those of task spaces. The harmonic mean manipulability index is improved by normalizing the measure through stochastic consideration of manipulator motion and by adopting the average of joint speeds in place of the sum. This measure can compare the dexterities of manipulators having various DOFs. Therefore, the measure is effective not only for trajectory planning but also for kinematic design by simulation comparisons. The application to 2-DOF and 3-DOF planar manipulators demonstrates the usefulness of the index.

Original languageEnglish
Pages415-420
Number of pages6
Publication statusPublished - 1989 Dec 1
Externally publishedYes
Event15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 - Philadelphia, PA, USA
Duration: 1989 Nov 61989 Nov 10

Other

Other15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1
CityPhiladelphia, PA, USA
Period89/11/689/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Dexterity measure for trajectory planning and kinematic design of redundant manipulators'. Together they form a unique fingerprint.

Cite this