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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ma, O. Angeles, J. |
| Copyright Year | 1991 |
| Description | Author affiliation: Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada (Ma, O.; Angeles, J.) |
| Abstract | The kinetostatic accuracy of a manipulator depends not only on its configuration but also on its architecture. The focus of this paper is on the study of the relation between the aforementioned accuracy and the architecture of platform manipulators. It has been shown that some architectures can cause the associated Jacobian matrix to be either singular or very ill-conditioned in some regions of the workspace. These singular or ill-conditioned architectures can never be used in practice and hence, must be eliminated at the design stage. This is done using a design optimization approach. A design example is included to illustrate this approach.< |
| Starting Page | 1130 |
| Ending Page | 1135 |
| File Size | 476497 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780300785 |
| DOI | 10.1109/ICAR.1991.240404 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-06-19 |
| Publisher Place | Italy |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Jacobian matrices Kinematics Leg Manipulators Numerical stability Mechanical engineering Design optimization Aerospace simulation Angular velocity |
| Content Type | Text |
| Resource Type | Article |
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