Upper bound conditioning as a performance index for manipulator motion planning
نویسندگان
چکیده
In this article a simple performance index for proper manipulator motion planning is presented. This index is derived by establishing a simple upper bound for a standard condition number of the Jacobian matrix. Here the proposed index behaviour is analyzed/tested on a planar redundant manipulator executing tasks under various scenarios.
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تاریخ انتشار 1998