Study of Robotic Manipulators’Kinematics Manipulability
[1]CE Hong-yang,GE Xin-feng,ZHAO Da-xu.Study of Robotic Manipulators’Kinematics Manipulability[J].Journal of Zhengzhou University (Engineering Science),2013,34(02):121-124.[doi:10.3969/j.issn.1671-6833.2013.02.030]
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Journal of Zhengzhou University (Engineering Science)[ISSN
1671-6833/CN
41-1339/T] Volume:
34卷
Number of periods:
2013 02
Page number:
121-124
Column:
Public date:
2013-03-28
- Title:
- Study of Robotic Manipulators’Kinematics Manipulability
- Keywords:
- manipulability ; Riemannian manifold; volume element; exterior differential
- CLC:
- TP241.2
- DOI:
- 10.3969/j.issn.1671-6833.2013.02.030
- Abstract:
- The conclusion that the greater of the robotic manipulator’s operation space volume,the better ofthe robotic manipulator’s manipulability is drawn by studying the series redundant automatic fiber placementrobotic manipulator’s operation space,and the redundant robotic manipulator’s kinematics performance indexthat based on volume element is proposed. n-DOF serial robotic manipulator’s operation space is n-dimension-al Riemannian manifold,the n-dimensional Riemannian manifold volume is calculated using the moving coor-dinate system and the exterior product definition,and the robotic manipulator’s operation space volume is ob-tained,and compared the obtained results with the operation space volume in the literature,it shows that thevolume element as a kinematics performance index is feasible.
- References:
- -
- Similar References:
Memo
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Last Update:
1900-01-01