Paper Info
Title
Definition of a kinematic metric for robot manipulators
Abstract
Using a Riemannian metric in the special Euclidean group we define a kinematic metric on the space of kinematics of robot manipulators. Prospective applications of the metric in kinematic design and performance evaluation of robot manipulators are indicated. For exemplary kinematics, including the PUMA 600, explicit formulas are provided describing the dependence of the metric on manipulator's geometric parameters. (c) 1994 John Wiley & Sons, Inc.
Year
DOI
Venue
1994
10.1002/rob.4620110307
JOURNAL OF ROBOTIC SYSTEMS
Field
DocType
Volume
Topology,Kinematics,Euclidean group,Inverse kinematics,Control theory,Manipulator,Robot kinematics,Artificial intelligence,Robot manipulator,Mathematics,Robotics
Journal
11
Issue
ISSN
Citations 
3.0
0741-2223
8
PageRank 
References 
Authors
1.25
4
2
Name
Order
Citations
PageRank
Krzysztof Tchon15213.93
Ignacy Duleba211519.40