Kinestatic analysis of nonsingular lower mobility manipulators

Man Bok Hong; Yong Je Choi

doi:10.1109/TRO.2009.2019146

Kinestatic analysis of nonsingular lower mobility manipulators

Man Bok Hong, Yong Je Choi

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

21 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	938-942
Number of pages	5
Journal	IEEE Transactions on Robotics
Volume	25
Issue number	4
DOIs	https://doi.org/10.1109/TRO.2009.2019146
Publication status	Published - 2009

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TRO.2009.2019146

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AB - 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.

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Kinestatic analysis of nonsingular lower mobility manipulators

Abstract

All Science Journal Classification (ASJC) codes

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