Manipulability of Closed Kinematic Chains

[+] Author and Article Information
F. C. Park, J. W. Kim

School of Mechanical and Aerospace Engineering, Seoul National University, Kwanak-Ku Shinlim-Dong San 56-1, Seoul 151-742, Korea

J. Mech. Des 120(4), 542-548 (Dec 01, 1998) (7 pages) doi:10.1115/1.2829312 History: Received November 01, 1996; Revised September 01, 1998; Online December 11, 2007


This paper presents a coordinate-invariant differential geometric analysis of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredundant mechanisms, as well as over-actuated and exactly actuated ones, in a uniform manner. Dynamic characteristics of the mechanism and manipulated object can also be naturally included by an appropriate choice of Riemannian metric. We illustrate the methodology with several closed chain examples, and provide a practical algorithm for manipulability analysis of general chains.

Copyright © 1998 by The American Society of Mechanical Engineers
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