Kinematic synthesis of tendon-driven robotic manipulators using singular value decomposition

This work describes a systematic methodology for the synthesis of tendon-driven manipulators. A method for enumerating the topology of tendon routings is first established. To conform with the enumerated structures, the kinematic synthesis of the manipulator using singular value decomposition is the...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	Robotica 2010-01, Vol.28 (1), p.1-10
Hauptverfasser:	Sheu, Jinn-Biau, Huang, Jyun-Jheng, Lee, Jyh-Jone
Format:	Artikel
Sprache:	eng
Schlagworte:	Design Isotropic transmission Singular value decomposition Structure matrix Tendon-driven manipulator
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!