Kinematic-sensitivity indices for dimensionally nonhomogeneous jacobian matrices

IEEE Transactions on Robotics

Volumn 26, Issue 1, 2010, Pages 166-173

  Cardou, Philippe ^a   Bouchard, Samuel ^a   Gosselin, Clément ^a  

^a UNIVERSITÉ LAVAL   (Canada)

Author keywords

Accuracy; Condition number; Dexterity; Jacobian matrix; Kinematic sensitivity; Manipulability; Matrix norm; Parallel robot; Serial robot

Indexed keywords

ACCURACY; CONDITION NUMBER; CONDITION NUMBERS; MANIPULABILITY; MATRIX NORMS; PARALLEL ROBOTS; SERIAL ROBOTS;

FLEXIBLE MANIPULATORS; JACOBIAN MATRICES; KINEMATICS; NUMBER THEORY; ROBOTICS; ROTATION;

ROBOTS;

EID: 76949088701     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2037252     Document Type: Article

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