ROBOT MANIPULATABILITY

被引：120

作者：

DOTY, KL ^{[1
]}

MELCHIORRI, C ^{[1
]}

SCHWARTZ, EM ^{[1
]}

BONIVENTO, C ^{[1
]}

机构：

[1] UNIV BOLOGNA, DIPARTIMENTO ELETTRON INFORMAT & SISTEMIST, I-40136 BOLOGNA, ITALY

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 03期

关键词：

D O I：

10.1109/70.388791

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper demonstrates fundamental problems with dexterity measures found throughout the robotics literature and offers a methodology for correcting those problems. Measures of robot dexterity derived from eigenvalues, eigenvectors, similarity transformations, singular-value decompositions and the Moore-Penrose inverse of the manipulator Jacobian do not have invariant physical meaning. The paper presents manipulability ellipsoids and manipulability screw-subspaces for both redundant and nonredundant manipulators.

引用

页码：462 / 468

页数：7

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