Wilhelm Marais School of AMME, The University of Sydney, Australia

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Presentation transcript:

A New Manipulability Measure for the Control of CRAM: A Cable-driven Remote Access Manipulator Wilhelm Marais School of AMME, The University of Sydney, Australia Ali Göktoğan Australian Centre for Field Robotics, The University of Sydney, Australia A Jacobian pseudoinverse inverse kinematics method is presented for CRAM A new manipulability measure is presented for implementation of a damping factor near singularities Manipulability measure is extended to give Weighted Harmonic Isotropy Measure (WHIM) Simulation results confirm validity of control scheme WHIM used for CRAM control