A new index of serial-link manipulator performance combining dynamic manipulability and manipulating force ellisoids

IEEE Transactions on Robotics

Volumn 22, Issue 5, 2006, Pages 1022-1028

  Kurazume, Ryo ^a   Hasegawa, Tsutomu ^a  

^a KYUSHU UNIVERSITY   (Japan)

Author keywords

Dynamic manipulability ellipsoid (DME); Manipulability; Manipulating force ellipsoid (MFE); Manipulator dynamics; Manipulators

Indexed keywords

END EFFECTORS; FORCE CONTROL; OPTIMIZATION; ROBOTICS; TORQUE CONTROL; UNIVERSAL JOINTS;

DYNAMIC MANIPULABILITY ELLIPSOID; INERTIA MATCHING ELLIPSOID; MANIPULABILITY; MANIPULATING FORCE ELLIPSOID;

MANIPULATORS;

EID: 33750223913     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2006.878949     Document Type: Article

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