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.
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U2 - 10.1002/rob.4620070204
DO - 10.1002/rob.4620070204
M3 - Article
AN - SCOPUS:0025415867
VL - 7
SP - 167
EP - 180
JO - Journal of Field Robotics
JF - Journal of Field Robotics
SN - 1556-4959
IS - 2
ER -