论文信息 - Singularity-free parameterization and performance analysis of actuation redundancy

Singularity-free parameterization and performance analysis of actuation redundancy

A singularity-free parameterization is proposed that constantly allows full utilization of the actuation redundancy of a closed-link mechanism. The improvement due to the parameterization is numerically demonstrated. The advantage of actuation redundancy is investigated in the light of performance index minimization and maximum payload. The optimization of actuation redundancy is shown to result in significant improvement in both respects.<<ETX>>

Yoshihiko Nakamura | Timo Ropponen

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