81
Views
2
CrossRef citations to date
0
Altmetric
Full papers

Motion Purity of Robotic Mechanisms with Desired and Undesired Motions

&
Pages 1539-1556 | Published online: 02 Apr 2012

References

  • Park , F. C. and Brockett , R. W. 1994 . Kinematic dexterity of robot mechanisms . Int. J. Robotics Res. , 13 : 1 – 15 .
  • Yang , G. L. and Chen , I.-M. 2000 . Task-based optimization of modular robot configurations — MDOF approach . Mech. Mach. Theory , 35 : 517 – 540 .
  • Koren , Y. 1999 . Will industry adopt PKMs? . Manufacturing Engineering , 122 : 240
  • Bi , Z. M. and Jin , Y. 2011 . Kinematic modeling of parallel kinematic machine exechon . Robotics and Computer Integrated Manufacturing , 27 : 186 – 193 .
  • Moore , C. A. , Peshkin , M. A. and Colgate , J. E. 2003 . Cobot implementation of virtual paths and 3D virtual surfaces . IEEE Trans. Robotics Automat. , 19 : 347 – 351 .
  • Bi , Z. M. , Lang , S. Y. T. and Wang , L. 2008 . Improved control and simulation models of a tricycle collaborative robot . J. Intell. Manufact. , 9 : 715 – 722 .
  • Bi , Z. M. , Lang , S. Y. T. , Orban , P. and Verner , M. 2007 . An integrated design toolbox for tripod-based parallel kinematic machines . ASME J. Mech. Des. , 129 : 799 – 807 .
  • Mayorga , R. V. , Ressa , B. and ong , A. K. C. W . 1990 . “ A dexterity measure for robot manipulators ” . In Proc. IEEE Int. Conf. on Robotics and Automation vol. 1 , 656 – 661 . Cincinnati , OH
  • Lee , J. H. 1997 . “ A study on the manipulability measures for robot manipulators ” . In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 1458 – 1465 . Grenoble
  • Martins , A. de M. , Dias , A. M. and Alsina , P. J. 2006 . “ Comments on manipulability measure in redundant planar manipulators ” . In Proc. 3rd IEEE Latin American Robotics Symp 169 – 173 . Santiago
  • Altuzarra , O. , Salgado , O. , Petuya , V. and Hernandez , A. 2008 . Computational kinematics for robotic manipulators: Jacobian problems . Eng. Comput. , 25 : 4 – 27 .
  • Ukidve , S. , McInroy , J. E. and Jafari , F. 2008 . Using redundancy to optimize manipulability of Stewart platforms . IEEE/ASME Trans. Mechatron. , 13 : 475 – 479 .
  • Li , Y. M. and Xu , Q. S. 2007 . Kinematic analysis of a 3-PRS parallel manipulator . Robotics Comp.-Integrat. Manufact. , 23 : 395 – 408 .
  • Kawasaki , H. , Furukawa , T. , Ueki , S. and Mouri , T. 2009 . Virtual robot teaching based on motion analysis and hand manipulability of multi-fingered robot . J. Adv. Mech. Design Syst. Manufact. , 3 : 1 – 12 .
  • Gupta , A. , O'Malley , M. K. , Patoglu , V. and Burgar , C. 2008 . Design, control, and performance of ricewrist: a force feedback wrist exoskeleton for rehabilitation and training . Int. J. Robotics Res. , 27 : 233 – 251 .
  • Yokokohji , Y. , Martin , J. S. and Fujiwara , M. 2009 . Dynamic manipulability of multifingered grasping . IEEE Trans. Robotics , 25 : 947 – 953 .
  • Mansouri , I. and Ouali , M. 2009 . A new homogeneous manipulability measure of robot manipulators, based on power concept . Mechatronics , 19 : 927 – 944 .
  • Liu , X.-J. and Bonev , I. A. 2008 . Orientation capability, error analysis, and dimensional optimization of two articulated tool heads with parallel kinematics . J. Manufact. Sci. Eng. , 130 : 011015
  • Yoshikawa , T. 1985 . Manipulability of robotic mechanisms . Int. J. Robotics Res. , 4 : 3 – 9 .
  • Yoshikawa , T. 1985 . Dynamic manipulability of robot manipulators . J. Robotic Syst. , 2 : 113 – 124 .
  • Gosselin , C. M. and Angeles , J. 1991 . A global performance index for the kinematic optimization of robotic manipulators . ASME J. Mech. Des. , 113 : 220 – 226 .
  • Angeles , J. and López-Cajún , C. S. 1992 . Kinematic isotropy and the conditioning index of serial robotic manipulators . Int. J. Robotics Res. , 11 : 560 – 570 .
  • Bi , Z. M. 2002 . “ Adaptive robot systems for manufacturing applications ” . In PhD Thesis , Department of Mechanical Engineering, University of Saskatchewan .
  • Chipperfield , P. J. , Pohlheim Fleming , H. and Fonseca , C. M. 1994 . “ Genetic algorithm toolbox for use with Matlab ” . In Technical Report 512 , Sheffield : Department of Automatic Control and Systems Engineering, University of Sheffield .

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.