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Manipulability of Robotic Mechanisms
Abstract
This paper discusses the manipulating ability of robotic mechanisms in positioning and orienting end-effectors and proposes a measure of manipulability. Some properties of this measure are obtained, the best postures of various types of manipulators are given, and a four-degree-of-freedom finger is considered from the viewpoint of the measure. The pos tures somewhat resemble those of human arms and fingers.
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Citations
Cited by
Robot Grasp Synthesis Algorithms: A Survey
Shimoga, K. B. (1996) · The International Journal of Robotics Research · doi:10.1177/027836499601500302 · Cited by 666
A compliant, underactuated hand for robust manipulation
Odhner, L. U., Jentoft, L. P., Claffee, M. R., Corson, N., Tenzer, Y., Ma, R. R., Buehler, M., Kohout, R., Howe, R. D., & Dollar, A. M. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913514466 · Cited by 598
Manipulability Optimization of Redundant Manipulators Using Dynamic Neural Networks
Jin, L., Li, S., La, H. M., & Luo, X. (2017) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2017.2674624 · Cited by 382
TRAC-IK: An open-source library for improved solving of generic inverse kinematics
Beeson, P., & Ames, B. (2015) · 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2015.7363472 · Cited by 355
Large language models for chemistry robotics
Yoshikawa, N., Skreta, M., Darvish, K., Arellano-Rubach, S., Ji, Z., Bjørn Kristensen, L., Li, A. Z., Zhao, Y., Xu, H., Kuramshin, A., et al. (2023) · Autonomous Robots · doi:10.1007/s10514-023-10136-2 · Cited by 112
Metadata
- Authors
- Yoshikawa, T.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1985-06
- Volume
- 4
- Issue
- 2
- Pages
- 3-9
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2049410986
- Cited by
- 2,582
- References
- 0
- FWCI
- 12.95
- Type
- journal article
- Language
- en
- Open access
- closed
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- Yoshikawa, T. (1985). Manipulability of Robotic Mechanisms. The International Journal of Robotics Research. https://doi.org/10.1177/027836498500400201
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
