PERFORMANCE EVALUATION OF MANIPULATORS USING THE JACOBIAN AND ITS APPLICATION TO TRAJECTORY PLANNING.

Masaru Uchiyama, Kunitoshi Shimuzu, Kyojiro Hakomori

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    25 Citations (Scopus)

    Abstract

    The use of the Jacobian as a performance index of manipulators is discussed from the kinematic and static standpoint of view. The Jacobian is an index for the evaluation of manipulator dexterity at a point in the workspace. The index takes the least value at singular points at which the manipulator loses capability of moving in a certain direction and is least dexterous. The distribution of the index value in the whole workspace which is visualized on a color graphics display gives an overall understanding of the manipulator performance. This is illustrated by numerical examples for two different types of robotic manipulators with six revolute joints. As an example of application of this performance index, optimal trajectory planning using the index is presented. The trajectories obtained for several cases such as turning a crank show that the method generates a kinematically reasonable trajectory.

    Original languageEnglish
    Title of host publicationUnknown Host Publication Title
    EditorsHideo Hanafusa, Hirochika Inoue
    PublisherMIT Press
    Pages447-454
    Number of pages8
    ISBN (Print)0262081512
    Publication statusPublished - 1985 Dec 1

    ASJC Scopus subject areas

    • Engineering(all)

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