1. 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