A Procedure for the Symbolic Computation of a Dexterity Measure for Robot Manipulators
In this article an efficient procedure for the symbolic evaluation of a dexterity measure for robot manipulators is presented. Its efficiency is the result of using some simplification rules during the kinematics generation process. These rules are based on the structure of the manipulator kinematics and on some other heuristic reductions. The proposed procedure is implemented on a MAPLE based program and applied to evaluate the kinematic dexterity of some designs of a HERA redundant manipulator.
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