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Manipulability of Robotic Mechanisms
2.493
Zitationen
1
Autoren
1985
Jahr
Abstract
This paper discusses the manipulating ability of robotic mechanisms in positioning and orienting end-effectors and proposes a measure of manipulability. Some properties of this measure are obtained, the best postures of various types of manipulators are given, and a four-degree-of-freedom finger is considered from the viewpoint of the measure. The pos tures somewhat resemble those of human arms and fingers.
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