Kinestatic analysis of nonsingular lower mobility manipulators

Man Bok Hong, Yong Je Choi

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


This paper presents a method of determining exact solutions to kinestatic analyses of lower mobility manipulators by means of the reciprocal Jacobian. The existence and uniqueness of the reciprocal Jacobian are shown, which enables the complete kinestatic analyses of both serial and fully parallel manipulators in a unified way, as well as the derivation of the constraints on the end-effector twist and wrench.

Original languageEnglish
Pages (from-to)938-942
Number of pages5
JournalIEEE Transactions on Robotics
Issue number4
Publication statusPublished - 2009

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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