1996 | OriginalPaper | Buchkapitel
Kinematic Manipulability of Closed Chains
verfasst von : F. C. Park, J. W. Kim
Erschienen in: Recent Advances in Robot Kinematics
Verlag: Springer Netherlands
Enthalten in: Professional Book Archive
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This paper presents a coordinate-invariant differential geometric formulation of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredun-dant mechanisms, as well as over actuated and exactly actuated ones, in a uniform manner. We illustrate the formulation with several planar closed chain examples.