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A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundany
(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 ...
Dexterous Robotic Hands: Kinematics and Control
(1988-11-01)
This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of ...