NDLI: Kinematic/static dexterity measure of manipulators with limit-driven characteristics of actuators

Content Provider	IEEE Xplore Digital Library
Author	Shugen Ma
Copyright Year	2001
Description	Author affiliation: Fac. of Eng., Ibaraki Univ., Hitachi, Japan (Shugen Ma)
Abstract	Dexterity is an important issue for design, trajectory planning, and control, of manipulators. In this study, we introduce anew kinematic/static dexterity measure for manipulator manipulation. The measure is to evaluate how efficient a manipulator system is, while the limit driven characteristics of its actuators (DC motors) is included into consideration. The possible maximum velocity and force of the required task are derived in subjection to the heat-converted power limit of the DC motor, and two examples are used to show that the proposed dexterity measure is of task-dependent and changed due to the tasks.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	4035
Ending Page	4040
File Size	556335
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.933248
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Actuators DC motors Velocity measurement Ellipsoids Torque Design engineering Force measurement Motion measurement Systems engineering and theory
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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