{"title":"A kinematic criterion for the design analysis of manipulator wrist mechanisms","authors":"R. Mayorga, B. Ressa, A. Wong","doi":"10.1109/ICAR.1991.240573","DOIUrl":null,"url":null,"abstract":"The authors (1990) have shown that from the Jacobian rate of change matrix is it possible to derive a dexterity measure for robot manipulators. In this article this criterion is further extended for its application on the evaluation of several redundant wrist mechanisms for a commercial manipulator design.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"46 2","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1991.240573","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The authors (1990) have shown that from the Jacobian rate of change matrix is it possible to derive a dexterity measure for robot manipulators. In this article this criterion is further extended for its application on the evaluation of several redundant wrist mechanisms for a commercial manipulator design.<>
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