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Discriminant functions for isotropic configurations in robot manipulators
Published online by Cambridge University Press: 08 June 2011
Summary
In this paper, a family of discriminant functions is defined for searching isotropic configurations in robot manipulators. A subfamily of the functions extensively exploits properties of symmetric polynomials derived from a manipulability matrix. The complexity analysis of computing the discriminant functions is provided. Possible applications of the functions are mentioned and illustrated.
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- Copyright © Cambridge University Press 2011