Definition of a kinematic metric for robot manipulators

DOI10.1002/ROB.4620110307zbMATH Open0797.70003OpenAlexW1976263404MaRDI QIDQ4292273FDOQ4292273

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

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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)

Cites Work

• Title not available (Why is that?)
• 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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