Kinematic sensitivity of robot manipulators
- Vuskovic, Marko I.
- Jan 31, 1989.
- Physical Description:
- 1 electronic document
- Restrictions on Access:
- Unclassified, Unlimited, Publicly available. and Free-to-read Unrestricted online access
- Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.
- NASA Technical Reports Server (NTRS) Collection.
- Document ID: 19900020547., Accession ID: 90N29863., and JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 4; p 319-328.
- No Copyright.
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