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- W2091290803 abstract "We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance measures, namely condition number and manipulability measure allowed to change configurations, causing repeatability problems and discontinuity effects. The new measure, on the other hand, assures that the arm solution remains in the same configuration, thus effectively preventing these problems." @default.
- W2091290803 created "2016-06-24" @default.
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- W2091290803 date "1989-06-01" @default.
- W2091290803 modified "2023-09-25" @default.
- W2091290803 title "A Dexterity Measure for Kinematic Control of Redundant Manipulators" @default.
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- W2091290803 doi "https://doi.org/10.23919/acc.1989.4790242" @default.
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