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Abstract
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Article Information:
Study of the Redundant Robotic Manipulator’s Kinematics Performance Index
Ge Xinfeng, Zhao Dongbiao, Lu Yonghua and Liu Kai
Corresponding Author: Ge Xinfeng
Submitted: April 20, 2012
Accepted: May 13, 2012
Published: December 01, 2012 |
Abstract:
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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 manipulator’s 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.
Key words: Exterior differential, kinematics performance index, manipulability, moving frame system, volume element, ,
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Abstract
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Cite this Reference:
Ge Xinfeng, Zhao Dongbiao, Lu Yonghua and Liu Kai, . Study of the Redundant Robotic Manipulator’s Kinematics Performance Index. Research Journal of Applied Sciences, Engineering and Technology, (23): 5212-5216.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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