제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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- Pages.62-67
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- 1990
여유 자유도를 갖는 매니퓨레이터의 능숙성 지수에 대한 Review
Review on dexterity measures for kinematically redundant manipulators
초록
A number of performance measures have been proposed for the quantification of dexterity for kinematically redundant manipulators. The use of such measures is especially important for kinematically redundant manipulators since they can satisfy the subtasks such as singularity avoidance and obstacle avoidance in addition to satisfying a specification of end-effector motion. In this paper, the advantages and disadvantages of performance measures proposed up to date are compared through simulations under the same environment. Besides, a new dexterity index for manipulators with multiple degrees of redundancy is proposed and shown to be effective through the simulation.
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