Dexterity measures for design and control of manipulators

  title={Dexterity measures for design and control of manipulators},
  author={Jin-Oh Kim and Pradeep K. Khosla},
In this paper, we investigate dexterity measures of a manipulator based on its Jacobian matrix. Our goal is to derive dexterity measures which can be used for both design and control of a manipulator. Generally, a dexterity measure must be independent of the scale of a manipulator for design, and must be expressed analytically so that it can be used for real-time control. Of course, every dexterity measure must bear a physical meaning. These are two major issues in this paper. The measure of… CONTINUE READING
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