Kinestatic analysis of nonsingular lower mobility manipulators

Man Bok Hong, Yong Je Choi

Research output: Contribution to journalArticle

19 Citations (Scopus)

Abstract

This paper presents a method of determining exact solutions to kinestatic analyses of lower mobility manipulators by means of the reciprocal Jacobian. The existence and uniqueness of the reciprocal Jacobian are shown, which enables the complete kinestatic analyses of both serial and fully parallel manipulators in a unified way, as well as the derivation of the constraints on the end-effector twist and wrench.

Original languageEnglish
Pages (from-to)938-942
Number of pages5
JournalIEEE Transactions on Robotics
Volume25
Issue number4
DOIs
Publication statusPublished - 2009 Apr 24

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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