Evaluating the Maximum Directional Kinematic Capability of a Redundant Manipulator Based on Allowable Velocity and Force
In this study, a new concept of allowable velocity and force is proposed to precisely evaluate the maximum directional kinematic capability of a redundant manipulator. For a general redundant manipulator, an optimization problem is formulated to determine the maximum achievable velocity and force pr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9458268/ |