| contributor author | F. C. Park | |
| contributor author | J. W. Kim | |
| date accessioned | 2017-05-08T23:57:20Z | |
| date available | 2017-05-08T23:57:20Z | |
| date copyright | December, 1998 | |
| date issued | 1998 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27656#542_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/120830 | |
| description abstract | 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Manipulability of Closed Kinematic Chains | |
| type | Journal Paper | |
| journal volume | 120 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2829312 | |
| journal fristpage | 542 | |
| journal lastpage | 548 | |
| identifier eissn | 1528-9001 | |
| keywords | Closed kinematic chains | |
| keywords | Mechanisms | |
| keywords | Chain AND Algorithms | |
| tree | Journal of Mechanical Design:;1998:;volume( 120 ):;issue: 004 | |
| contenttype | Fulltext | |