Robot arm-wrist coordination. Part 1. Quantitative rating

Marcelo H. Ang, Vassilios D. Tourassis

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

The robotic capability for controlled motion depends upon the robot's ability to coordinate its arm and wrist in order to accomplish the desired task. The objective of this article is to define formally the arm-wrist coordination and to introduce a quantitative measure for it. We develop a mathematical framework that provides for the analysis of the impact of both the fixed manipulator geometry and the changing robot configuration upon the efficiency of arm-wrist coordination. In the companion paper (Part 2), manipulator design guidelines are then formulated to guarantee task decomposition for any desired robot task. Numerical simulations demonstrate the efficacy of these design guidelines.

Original languageEnglish
Pages (from-to)167-180
Number of pages14
JournalJournal of Robotic Systems
Volume7
Issue number2
Publication statusPublished - Apr 1990
Externally publishedYes

Fingerprint

Robots
Manipulators
Robotics
Decomposition
Geometry
Computer simulation

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Robot arm-wrist coordination. Part 1. Quantitative rating. / Ang, Marcelo H.; Tourassis, Vassilios D.

In: Journal of Robotic Systems, Vol. 7, No. 2, 04.1990, p. 167-180.

Research output: Contribution to journalArticle

@article{6faf20cf297f4e68b95a9819e009ad4b,
title = "Robot arm-wrist coordination. Part 1. Quantitative rating",
abstract = "The robotic capability for controlled motion depends upon the robot's ability to coordinate its arm and wrist in order to accomplish the desired task. The objective of this article is to define formally the arm-wrist coordination and to introduce a quantitative measure for it. We develop a mathematical framework that provides for the analysis of the impact of both the fixed manipulator geometry and the changing robot configuration upon the efficiency of arm-wrist coordination. In the companion paper (Part 2), manipulator design guidelines are then formulated to guarantee task decomposition for any desired robot task. Numerical simulations demonstrate the efficacy of these design guidelines.",
author = "Ang, {Marcelo H.} and Tourassis, {Vassilios D.}",
year = "1990",
month = "4",
language = "English",
volume = "7",
pages = "167--180",
journal = "Journal of Field Robotics",
issn = "1556-4959",
publisher = "John Wiley and Sons Inc.",
number = "2",

}

TY - JOUR

T1 - Robot arm-wrist coordination. Part 1. Quantitative rating

AU - Ang, Marcelo H.

AU - Tourassis, Vassilios D.

PY - 1990/4

Y1 - 1990/4

N2 - The robotic capability for controlled motion depends upon the robot's ability to coordinate its arm and wrist in order to accomplish the desired task. The objective of this article is to define formally the arm-wrist coordination and to introduce a quantitative measure for it. We develop a mathematical framework that provides for the analysis of the impact of both the fixed manipulator geometry and the changing robot configuration upon the efficiency of arm-wrist coordination. In the companion paper (Part 2), manipulator design guidelines are then formulated to guarantee task decomposition for any desired robot task. Numerical simulations demonstrate the efficacy of these design guidelines.

AB - The robotic capability for controlled motion depends upon the robot's ability to coordinate its arm and wrist in order to accomplish the desired task. The objective of this article is to define formally the arm-wrist coordination and to introduce a quantitative measure for it. We develop a mathematical framework that provides for the analysis of the impact of both the fixed manipulator geometry and the changing robot configuration upon the efficiency of arm-wrist coordination. In the companion paper (Part 2), manipulator design guidelines are then formulated to guarantee task decomposition for any desired robot task. Numerical simulations demonstrate the efficacy of these design guidelines.

UR - http://www.scopus.com/inward/record.url?scp=0025415867&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0025415867&partnerID=8YFLogxK

M3 - Article

VL - 7

SP - 167

EP - 180

JO - Journal of Field Robotics

JF - Journal of Field Robotics

SN - 1556-4959

IS - 2

ER -