By Topic

Evaluation of dexterity measures for a 3-link planar redundant manipulator using constraint locus

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
$33 $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

3 Author(s)
Byoung Wook Choi ; Res. & Dev. Center, Goldstar Ind. Syst., Kyungki-do, South Korea ; Jon Hwa Won ; Myung Jin Chung

This paper describes how to evaluate the performance of dexterity measures by investigating the properties of the inverse kinematic algorithms. These algorithms use redundancy to optimize the dexterity measure under the constraint of following a specified end-effector trajectory. To facilitate the investigation, a concept of the constraint locus is proposed. The constraint locus is the loci of configurations satisfying the necessary conditions for optimality of a dexterity measure in the configuration space. The topological properties of the inverse kinematic algorithm both on the configuration and operation spaces define the invertible workspace without singularities. Using the global properties of two dexterity measures, the authors provide a promising algorithm which provides a singular-free and conservative joint trajectory for tasks occupying almost the entire workspace

Published in:

IEEE Transactions on Robotics and Automation  (Volume:11 ,  Issue: 2 )