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Document type:
Zeitschriftenaufsatz 
Author(s):
Huber, Gerold; Wollherr, Dirk 
Title:
Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot 
Abstract:
With the increasing demand for robots to react and adapt to unforeseen events, it is essential that a robot preserves agility at all times. While manipulability is a common measure to quantify agility at a given joint configuration, an efficient direct evaluation in task space is usually not possible with conventional methods, especially for redundant robots with an infinite number of Inverse Kinematic solutions. Yet, this is essential for global online optimization of a robot posture. In this w...    »
 
Keywords:
manipulability; inverse kinematics function; kinematic optimization; redundant robot 
Journal title:
Robotics 
Year:
2019 
Journal volume:
Journal issue:
Pages contribution:
98 
Reviewed:
ja 
Language:
en 
Fulltext / DOI:
Publisher:
MDPI AG 
E-ISSN:
2218-6581 
Accepted:
23.11.2019 
Date of publication:
26.11.2019 
Semester:
WS 19-20 
TUM Institution:
Lehrstuhl für Steuerungs- und Regelungstechnik 
CC license:
by, http://creativecommons.org/licenses/by/4.0