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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Kosuge, K. Furuta, K. |
| Copyright Year | 1985 |
| Description | Author affiliation: Tokyo Institute of Technology, Tokyo, JAPAN (Kosuge, K.) |
| Abstract | Kinematic and dynamic analysis of robot arm is discussed from the control point of view. For the static control problem, such as the steady-state force/torque control, the kinematic property is analyzed using the condition number of the Jacobian matrix of the transformation between the joint coordinate and the task coordinate. For the general control problem, such as position and orientation control of the end effector, the kinematic and dynamic property is analyzed using the condition number of the matrix which is representative for the input-output relation of a robot arm and related to the output controllability of the robot system. A simple illustrative example shows that the analysis is also useful for the design problem of robot arms. |
| Starting Page | 1039 |
| Ending Page | 1044 |
| File Size | 525104 |
| Page Count | 6 |
| File Format | |
| DOI | 10.1109/ROBOT.1985.1087278 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1985-03-25 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot kinematics Force control Torque control Jacobian matrices Steady-state Control systems Position control End effectors Controllability Manipulators |
| Content Type | Text |
| Resource Type | Article |
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