By Topic

A decentralized controllability measure for robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Kiriazov, P. ; Inst. of Mech. & Biomech., Bulgarian Acad. of Sci., Sofia, Bulgaria

A global dynamic performance measure for manipulators with decentralized control systems is given. The measure is defined on the base of a weak explicit condition on the inverse inertia matrix which is necessary and sufficient for a manipulator to be independent joint controllable (IJC). Most properly designed nonredundant manipulators can be IJC. For a planar three-degree-of-freedom manipulator to be IJC, a simple inequality is derived to show how the link masses should decrease in progressing from the base to the gripper

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992