Abstract
This paper presents a coordinate-invariant differential geometric formulation of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredun-dant mechanisms, as well as over actuated and exactly actuated ones, in a uniform manner. We illustrate the formulation with several planar closed chain examples.
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© 1996 Kluwer Academic Publishers
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Park, F.C., Kim, J.W. (1996). Kinematic Manipulability of Closed Chains. In: Lenarčič, J., Parenti-Castelli, V. (eds) Recent Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-009-1718-7_10
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DOI: https://doi.org/10.1007/978-94-009-1718-7_10
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-7269-4
Online ISBN: 978-94-009-1718-7
eBook Packages: Springer Book Archive