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

Masaru Uchiyama, Kunitoshi Shimuzu, Kyojiro Hakomori

    研究成果: Conference contribution

    28 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルUnknown Host Publication Title
    編集者Hideo Hanafusa, Hirochika Inoue
    出版社MIT Press
    ページ447-454
    ページ数8
    ISBN(印刷版)0262081512
    出版ステータスPublished - 1985 12月 1

    ASJC Scopus subject areas

    • 工学(全般)

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