The Isoconditioning Loci of A Class of Closed-Chain Manipulators
| dc.creator | Chablat, Damien | |
| dc.creator | Wenger, Philippe | |
| dc.creator | Angeles, Jorge | |
| dc.date | 2007-07-13 | |
| dc.date.accessioned | 2026-07-07T08:17:36Z | |
| dc.date.available | 2026-07-07T08:17:36Z | |
| dc.description | The subject of this paper is a special class of closed-chain manipulators. First, we analyze a family of two-degree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the ``inverse kinematics" and the "direct kinematics" matrices. It is shown that the loci of points of the workspace where the condition number of the direct-kinematics matrix remains constant, i.e., the isoconditioning loci, are the coupler points of the four-bar linkage obtained upon locking the middle joint of the linkage. Furthermore, if the line of centers of the two actuated revolutes is used as the axis of a third actuated revolute, then a three-dof hybrid manipulator is obtained. The isoconditioning loci of this manipulator are surfaces of revolution generated by the isoconditioning curves of the two-dof manipulator, whose axis of symmetry is that of the third actuated revolute. | |
| dc.identifier | https://arxiv.org/abs/0707.2017 | |
| dc.identifier | http://arxiv.org/abs/0707.2017 | |
| dc.identifier | Proceeding IEEE International Conference on Robotics and Automation (05/1998) 1970-1976 | |
| dc.identifier.uri | http://salesiana.dossiersoluciones.com/handle/123456789/134146 | |
| dc.subject | Robotics | |
| dc.title | The Isoconditioning Loci of A Class of Closed-Chain Manipulators | |
| dc.type | text |