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Choice Of Drives For Redundant Robot-Manipulators Based On Sensibility Criterion
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| Author(s) |
George Boiadjiev, Daniela Vassileva |
| Abstract |
Redundant robot-manipulators are considered. Their
position and orientation states are realized by a subset of six active
drives in the most arbitrary case. The work treats the question how
any of these subsets have to be chosen to maintain the needed state
of robot in the sense of accuracy according to the sensibility
criterion. The criterion itself shows what kind of sensibility
characteristics the system must reveal following a task of
execution. Sensibility is a system quality characteristic
mathematically defined as a homomorphism between robot
configuration space and working zone. It is well known
redundancy brings more inexactness in the system as a whole but,
on the other hand, it can increase the accuracy in some specific
system states. |
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| Filename: | A72419 |
| Filesize: | 191 KB |
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| Type |
Members Only |
| Date |
Last modified 2006-02-17 by System |
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