Dexterity Evaluation and Optimization of Hyper Redundant Robots Based on Movability and Assistability

MATSUURA DAISUKE; IWATSUKI NOBUYUKI; OKADA MASAFUMI

Art

J-GLOBAL ID：200902282252427985 Reference number：08A0446213

Dexterity Evaluation and Optimization of Hyper Redundant Robots Based on Movability and Assistability

運動可能性と目標運動達成支援性に基づく超多自由度ロボットの器用さの評価と最適制御

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Author (3)： , ,
Material：
Volume： 74 Issue： 740 Page： 946-952 Publication year： Apr. 25, 2008
JST Material Number： F0045B ISSN： 0387-5024 Document type： Article
Article type：原著論文 Country of issue： Japan (JPN) Language： JAPANESE (JA)

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Motion and control of robots

Reference (11)：

BERNSTEIN, N. A. On dexterity and its development. Dexterity and its Development. 1996, 3-44
IWATSUKI, N. Optimum Motion Control of a Redundant Robot with the Objective Function of Dexterity. Trans. of the JSME, Ser. C. 1994, 60, 574, 2064-2070
YOSHIKAWA, T. Manipulability of Robotic Mechanisms. The International Journal of Robotics Research. 1985, 4, 2, 3-9
KLEIN, C. A. Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators. Int. J. of Robotics Res. 1987, 72-83
MINAMI, M. Avoidance Manipulability for Redundant Manipulators. Journal of the Robotics Society of Japan. 1999, 17, 6, 887-895

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