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A study on the manipulability measures for robot manipulators
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 2002Regarding the dexterousness measure of robot manipulators, two geometric tools, manipulability ellipsoids and manipulability polytopes, are examined and compared with each other. Even though the manipulability ellipsoid approach is the most widely used techniques, it is shown that the manipulability ellipsoid does not transform the exact joint velocity
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Translational and rotational manipulability of robotic manipulators
Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation, 1990Several results offering insight into the properties of the manipulability measure are presented based on the idea of separating the total manipulability measure into translational and rotational manipulability measures. It is shown that if a manipulator consists of an arm portion with three joints and a spherical wrist portion with three or more ...
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A Review on Two-Link Flexible Manipulators
Annual Reviews in Control, 2016Kshetrimayum Lochan +2 more
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Compliance and Force Control for Computer Controlled Manipulators
IEEE Transactions on Systems, Man, and Cybernetics, 1981Matthew T. Mason
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Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction
IEEE Transactions on Robotics, 2017Yong-Jae Kim
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