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2012 (Vol. 4, Issue: 23)
Article Information:

Study of the Redundant Robotic Manipulatorís Kinematics Performance Index

Ge Xinfeng, Zhao Dongbiao, Lu Yonghua and Liu Kai
Corresponding Author:  Ge Xinfeng 

Key words:  Exterior differential, kinematics performance index, manipulability, moving frame system, volume element, ,
Vol. 4 , (23): 5212-5216
Submitted Accepted Published
April 20, 2012 May 13, 2012 December 01, 2012

The kinematics equations of robotic manipulator is derived according to moving frame system method in this study; volume element is defined employing exterior differential and moving frame system and is taken as kinematics performance index measuring redundant robotic manipulatorís manipulability. Then take the 7-DOF automatic fiber placement robotic manipulator as an example and obtain the volume element function of it. Compared the volume element function which derived with Yoshikawa's manipulability function, it shows the volume element function and the manipulability function are the same, so the volume element as a kinematics performance index is feasible.
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  Cite this Reference:
Ge Xinfeng, Zhao Dongbiao, Lu Yonghua and Liu Kai, 2012. Study of the Redundant Robotic Manipulatorís Kinematics Performance Index.  Research Journal of Applied Sciences, Engineering and Technology, 4(23): 5212-5216.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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