Kinematic Manipulability of Closed Chains View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

1996

AUTHORS

F. C. Park , J. W. Kim

ABSTRACT

This paper presents a coordinate-invariant differential geometric formulation of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredun-dant mechanisms, as well as over actuated and exactly actuated ones, in a uniform manner. We illustrate the formulation with several planar closed chain examples.

PAGES

99-108

Book

TITLE

Recent Advances in Robot Kinematics

ISBN

978-94-010-7269-4
978-94-009-1718-7

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-94-009-1718-7_10

DOI

http://dx.doi.org/10.1007/978-94-009-1718-7_10

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1047082517


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