Dexterity measures for the design and control of kinematically redundant manipulators
作者： Charles A. Klein , Bruce E. Blaho
DOI: 10.1177/027836498700600206
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摘要: In this paper, we have proposed a number of measures for the quantification dexterity manipulators. The use such is especially important kinematically redundant manipulators since they can satisfy secondary cri teria in addition to satisfying specification end-effector motion. We will compare several problems offinding an optimal configuration given position, finding workpoint, and designing op timal link lengths arm.
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