Title :
Analytical determination of the null space of anthropomorphic manipulators
Author :
Wang, Zhaoyu ; Kazerounian, Kazem
Author_Institution :
Singapore Inst. of Stand. & Ind. Res., Singapore
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;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
