Browsing AI Memos (1959 - 2004) by Author "Chang, Pyung H."
Now showing items 1-2 of 2
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A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy
Chang, Pyung H. (1986-03-01)A closed form equation for inverse kinematics of manipulator with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state for the resolved ... -
A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundany
Chang, Pyung H. (1988-02-01)We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance ...