Evaluating the Maximum Directional Kinematic Capability of a Redundant Manipulator Based on Allowable Velocity and Force

In this study, a new concept of allowable velocity and force is proposed to precisely evaluate the maximum directional kinematic capability of a redundant manipulator. For a general redundant manipulator, an optimization problem is formulated to determine the maximum achievable velocity and force pr...

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Bibliographic Details
Published in:IEEE Access
Main Authors: Jong Ho Kim, Young June Shin, In Gwun Jang
Format: Article
Language:English
Published: IEEE 2021-01-01
Subjects:
Allowable velocity
allowable force
robot kinematics
redundant manipulator
gradient-based optimization
Online Access:https://ieeexplore.ieee.org/document/9458268/

Internet

https://ieeexplore.ieee.org/document/9458268/

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