Show simple item record

contributor authorZhang, Tongxiao
contributor authorMinami, Mamoru
contributor authorYasukura, Osami
contributor authorSong, Wei
date accessioned2017-05-09T01:01:16Z
date available2017-05-09T01:01:16Z
date issued2013
identifier issn1942-4302
identifier otherjmr_005_04_041001.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/152637
description abstractThis paper is concerned with a concept of reconfiguration manipulability inspired from manipulability. The reconfiguration manipulability represents a shapechangeability of each intermediate link when a prior endeffector task is given. Through analyses of reconfiguration matrices, we propose a method to judge whether the plural shapechanging subtasks can be executed simultaneously or not. Then the sufficient conditions guaranteeing sustainability of reconfiguration manipulability space are presented, which are the conditions for keeping the reconfiguration manipulability as high as possible under the prior endeffector task. Further, we confirm the proposed analyses can be useful practically for evaluating the realistic manipulator's configurations and structures.
publisherThe American Society of Mechanical Engineers (ASME)
titleReconfiguration Manipulability Analyses for Redundant Robots
typeJournal Paper
journal volume5
journal issue4
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4024727
journal fristpage41001
journal lastpage41001
identifier eissn1942-4310
treeJournal of Mechanisms and Robotics:;2013:;volume( 005 ):;issue: 004
contenttypeFulltext


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record