• Mathematics, Computer Science
  • Published in
    IEEE Trans. Robotics and…
    1995
  • DOI:10.1109/70.388791

Robot manipulability

@article{Doty1995RobotM,
  title={Robot manipulability},
  author={Keith L. Doty and Claudio Melchiorri and Eric M. Schwartz and Claudio Bonivento},
  journal={IEEE Trans. Robotics and Automation},
  year={1995},
  volume={11},
  pages={462-468}
}
This paper demonstrates fundamental problems with dexterity measures found throughout the robotics literature and offers a methodology for correcting those problems. Measures of robot dexterity derived from eigenvalues, eigenvectors, similarity transformations, singular-value decompositions and the Moore-Penrose inverse of the manipulator Jacobian do not have invariant physical meaning. The paper presents manipulability ellipsoids and manipulability screw-subspaces for both redundant and… CONTINUE READING

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