TY - JOUR
T1 - Study on dexterity of robot manipulators
AU - Xie, Biyun
AU - Zhao, Jing
PY - 2010/8
Y1 - 2010/8
N2 - 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.
AB - 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.
KW - Condition number
KW - Isotropic condition
KW - Kinematic dexterity
KW - Manipulability
UR - http://www.scopus.com/inward/record.url?scp=77956387388&partnerID=8YFLogxK
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U2 - 10.3772/j.issn.1002-0470.2010.08.015
DO - 10.3772/j.issn.1002-0470.2010.08.015
M3 - Article
AN - SCOPUS:77956387388
SN - 1002-0470
VL - 20
SP - 856
EP - 862
JO - Gaojishu Tongxin/Chinese High Technology Letters
JF - Gaojishu Tongxin/Chinese High Technology Letters
IS - 8
ER -