• DocumentCode
    864891
  • Title

    Analytical determination of the null space of anthropomorphic manipulators

  • Author

    Wang, Zhaoyu ; Kazerounian, Kazem

  • Author_Institution
    Singapore Inst. of Stand. & Ind. Res., Singapore
  • Volume
    22
  • Issue
    6
  • fYear
    1992
  • Firstpage
    1488
  • Lastpage
    1492
  • Abstract
    The explicit formulation for the Jacobian matrix and its null space for an anthropomorphic manipulator arm with seven degrees of freedom are presented. The manipulability index of this redundant system, which is defined as the determinant of JJT, is the Euclidian norm, of the generated null space vector
  • Keywords
    control system analysis; kinematics; manipulators; matrix algebra; redundancy; Euclidian norm; Jacobian matrix; anthropomorphic manipulators; manipulability index; null space vector; redundant system; Anthropomorphism; Cybernetics; Equations; Fuzzy control; Fuzzy logic; Fuzzy sets; Fuzzy systems; Humans; Null space; Prototypes;
  • fLanguage
    English
  • Journal_Title
    Systems, Man and Cybernetics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9472
  • Type

    jour

  • DOI
    10.1109/21.199473
  • Filename
    199473
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=864891