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Title:

Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Document type:
Zeitschriftenaufsatz
Author(s):
Huber, Gerold; Wollherr, Dirk
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:
8
Journal issue:
4
Pages contribution:
98
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.3390/robotics8040098
WWW:
https://www.mdpi.com/2218-6581/8/4/98
Publisher:
MDPI AG
E-ISSN:
2218-6581
Submitted:
29.09.2019
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
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