Manipulability of closed kinematic chains

被引：51

作者：

Park, FC ^{[1
]}

Kim, JW ^{[1
]}

机构：

[1] Seoul Natl Univ, Sch Mech & Aerosp Engn, Kwanak Ku, Seoul 151742, South Korea

来源：

JOURNAL OF MECHANICAL DESIGN | 1998年 / 120卷 / 04期

关键词：

D O I：

10.1115/1.2829312

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a coordinate-invariant differential geometric analysis of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredundant mechanisms, as well as over-actuated and exactly actuated ones, in a uniform manner. Dynamic characteristics of the mechanism and manipulated object can also be naturally included by an appropriate choice of Riemannian metric. We illustrate the methodology with several closed chain examples, and provide a practical algorithm for manipulability analysis of general chains.

引用

页码：542 / 548

页数：7

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