Abstract
The optimum kinematic design of spatial articulated hands can be formulated as an optimization problem. To this end, the concept of kinematic dexterity is applied to such mechanical systems in this work. The kinematic dexterity is based on the condition number of the Jacobian matrix of the mechanical system under study. However, when the position and orientation of the end effector of a manipulator are introduced, the Jacobian matrix contains entries with dimensional inhomogeneities, which renders the condition number physically meaningless. This problem has been addressed recently by a few researchers. The solutions proposed to overcome this problem are applied to articulated hands in this paper. An example is given to illustrate the practical applications in the context of design and trajectory planning of spatial articulated hands.
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© 1994 Springer Science+Business Media Dordrecht
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Imçaoudene, B., Gosselin, C.M. (1994). Application of Dexterity Indices to Spatial Articulated Hands. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_20
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DOI: https://doi.org/10.1007/978-94-015-8348-0_20
Publisher Name: Springer, Dordrecht
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