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Browse Conference Publications > Robotics and Automation, 1992 ... Help

A decentralized controllability measure for robotic manipulators

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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

Page(s):
2141 - 2145 vol.3
Meeting Date :
12 May 1992-14 May 1992
Print ISBN:
0-8186-2720-4
INSPEC Accession Number:
4391104
Conference Location :
Nice
Digital Object Identifier :
10.1109/ROBOT.1992.219965
Product Type:
Conference Publications

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