Manipulability of closed kinematic chains

Journal of Mechanical Design, Transactions of the ASME

Volumn 120, Issue 4, 1998, Pages 542-548

  Park, F C ^a   Kim, J W ^a  

^a Seoul National University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; KINEMATICS; MANIPULATORS; REDUNDANCY;

CLOSED KINEMATIC CHAINS; MANIPULABILITY;

MECHANISMS;

EID: 0032303354     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2829312     Document Type: Article

References (26)

1. Angeles, J., 1992, “The Design of Isotropic Manipulator Architectures in the Presence of Redundancies,” Int. J. Robotics Research; Vol. 11, No. 3, pp. 196-201.
2. Bicchi, A., Melchiorri, C., and Balluchi, D., 1995, “On the Mobility and Manipulability of General Multiple Limb Robots,” IEEE Trans. Robotics and Automation, Vol. 11, No. 2, pp. 215-228.
3. Armstrong, B., Khatib, O., and Burdick, J., 1986, “The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm,” Proc. IEEE Int. Conf. Robotics and Autom., pp. 510-518.
4. Chiacchio, P., Chiaverini, S., Sciavicco, L., and Siciliano, B., 1991, “Global Task Space Manipulability Ellipsoids for Multiple-Arm Systems,” IEEE Trans. Robotics Autom., Vol. 7, No. 5, pp. 678-685.
5. Chiacchio, P., Chiaverini, S., Sciavicco, L., and Siciliano, B., 1993, “Reply to 'Comments on 'Global Task Space Manipulability Ellipsoids for Multiple-Arm Systems' and Further Considerations,” IEEE Trans. Robotics Autom., Vol. 9, No. 2, pp. 235-236.
6. Eells, J., and Sampson, J., 1964, “Harmonic Mappings of Riemannian Manifolds,” Amer. J. Math., Vol. 86, pp. 109-160.
7. Gosselin, C., and Angeles, J., 1988, “The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator,” ASME JOURNAL OF MECHANICAL DESION TRANS., AND AUTOM. IN DESIGN, Vol. 110, pp. 35-41.
8. Gosselin, C., 1990, “Dexterity Indices for Planar and Spatial Robotic Manipulators,” Proc. IEEE Int. Conf. Robotics á Autom., pp. 650-655.
9. Gosselin, C.f and Angeles, J., 1991, “A Global Performance Index for the Kinematic Optimization of Robotic Manipulators,” ASME JOURNAL of MECHANICAL DFiSIGN, Vol. 113, No. 3, pp. 220-226.
10. Gosselin, C., St. Pierre, E., and Gagne, M., 1996, “On the Development of the Agile Eye,” IEEE Robotics an Automation Magazine, Vol. 3, No. 4, pp. 29-37.
11. Klein, C., and Blaho, B., 1987, “Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators,” Int. J. Robotics Research, Vol. 6, No. 2, pp. 72-83.
12. Klein, C., and Miklos, T. A., 1991, “Spatial Robotic isotropy,” Int. J. Robotics Research, Vol. 10, No. 4, pp. 426-437.
13. Kokkinis, T., and Paden, B., 1989, “Kinetostatic Performance Limits of Cooperating Robot Manipulators Using Force-Velocity Poly topes,” Proc. ASME Winter Annual Meeting-Robotics Res., San Francisco.
14. Lee, S., 1989, “Dual Redundant Arm Configuration Optimization With Task-Oriented Dual Ann Manipulability,” IEEE Trans. Robotics and Automation, Vol. 5, No. 1, pp. 78-97.
15. Li, Z., Hsu, P., and Sastry, S., 1989, “Grasping and Coordinated Manipula-tion by a Multifmgered Hand,” Int. J. Robotics Research, Vol. 8, No. 4, pp. 33-50.
16. Loncaric, J., 1985, “Geometrical Analysis of Compliant Mechanisms in Robotics,” Ph.D. thesis, Applied Mathematics, Harvard University.
17. McCarthy, J. M., 1997, “SphinxPC97 Linkage Design Software,” http://www.eng.uci.edu/mccarthy/research/Sphinx.html.
18. Melchiorri, C., 1993, “Comments on 'Global Task Space Manipulability Ellipsoids for Multiple-Arm Systems' and Further Considerations,” IEEE Trans. Robotics Autom., Vol. 9, No. 2, pp. 232-235.
19. Park, F. C., Brockett, R. W., 1994, “Kinematic Dexterity of Robotic Mechanisms,” Int. J, Robotics Research, Vol. 13, No. 2, pp. 1-15.
20. Park, F. C., 1995a, “Optimal Robot Design and Differential Geometry,” Trans. ASME 50th Anniv. Special Issue, Vol. 117(B), pp. 87-92.
21. Park, F. C., 1995b, “Distance Metrics on the Rigid-Body Motions With Applications to Mechanism Design,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 117, pp. 48-54.
22. Park, F. C., and Kim, J. W., 1996, “Kinematic Manipulability of Closed Chains,” Recent Advances in Robot Kinematics (Proc. 5th Int. ARK Symp.), J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publishers, Dordrecht.
23. Salisbury, J. K., and Craig, J. J., 1982, “Articulated Hands: Force Control and Kinematic Issues,” Int. J. Robotics Research, Vol. 1, No. 1, pp. 4-17.
24. Spivak, M., 1979, A Comprehensive Introduction to Differential Geometry, Vols. 1 and 2, Publish or Perish, Berkeley.
25. Yoshikawa, T., 1985, “Manipulability of Robotic Mechanisms,” Int. J. Robotics Research Vol. 4, No. 2, pp. 3-9.
26. Zanganeh, K. E., and Angeles, J., 1997, “Kinematic Isotropy and the Optimum Design of Parallel Manipulators,” Int. J. Robotics Research, Vol. 16, No. 2, pp. 185-197.