A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundany
We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance measures, namely condition number and manipulability measure allowed to chang...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6049 |