Abstract
The analysis and comparison of the different traditional dexterity measures of manipulators was made, and a new dexterity measure was presented. Furthermore the sensitivity of the measure was defined, which can be used to evaluate the stability of the dexterity. Based on these measures, the kinematic dexterity of planar and spatial robots was studied. Meanwhile the dexterity of the optimization results in different dexterity measures are compared. From the results obtained it can be observed that the optimal posture determined by the new measure is more dexterous.
Original language | English |
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Pages (from-to) | 856-862 |
Number of pages | 7 |
Journal | Gaojishu Tongxin/Chinese High Technology Letters |
Volume | 20 |
Issue number | 8 |
DOIs | |
State | Published - Aug 2010 |
Keywords
- Condition number
- Isotropic condition
- Kinematic dexterity
- Manipulability
ASJC Scopus subject areas
- General Engineering