A study on the difference on the manipulability for redundant and nonredundant robot manipulators

여유 자유도 로봇과 비 여유 자유도 로봇의 조작도 해석상의 차이점에 관한 연구

Kinematically redundantant manipulators have a nimber of potential advantages over nonredundant ones. Questions associated with manipulability measures for (non)redundant manipulators derived by minimum 2-norm solution and minimum infinity-norm solution in unit joint velocity are examined in detail.