Definition of a kinematic metric for robot manipulators

DOI10.1002/ROB.4620110307MaRDI QIDQ4292273zbMATH OpenOpenAlexFDO

Authors Krzysztof Tchoń, Ignacy Dulȩba

Publication date 17 October 1994

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620110307

zbMATH Keywords

Riemannian metricspecial Euclidean groupPUMA 600

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45)

Recommendations

• Curvature properties of 6-parametric robot manipulators
• scientific article; zbMATH DE number 528840
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• On asymptotic motions of robot-manipulator in homogeneous space.

Cites work

• scientific article; zbMATH DE number 3601149 (Why is no real title available?)
• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms
• Selection of near-minimum time geometric paths for robotic manipulators

Cited in

(4)

• Kinematic approximation of robotic manipulators
• A polar decomposition based displacement metric for a finite region of \(\mathrm{SE}(n)\)
• Efficient distance computation in configuration space
• New performance indices for \(6R\) robots

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