TY - GEN
T1 - Dynamic reconfiguration manipulability analysis of redundant robot
AU - Feng, Taoran
AU - Kobayashi, Yosuke
AU - Minami, Mamoru
AU - Yanou, Akira
PY - 2013/1/1
Y1 - 2013/1/1
N2 - In this paper, we propose a new index inspired by dynamic manipulability for redundent robot proposed by Yoshikawa to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is controlled, for example, end-effectors being controlled to a desired trajectory in task space. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability Ellipsoid (DME) describes a distribution of hand acceleration produced by normalized joint torque. Besides, Reconfiguration Manipulability Ellipsoid (RME) denotes a distribution of each link velocity produced by joint angular velocity. In this paper, we proposed a new concept named Dynamic Reconfiguration Manipulability (DRM) which combined dynamic manipulability with reconfiguration manipulability, and we examined and analyzed it through simulations to test and verify its validity and usefulness.
AB - In this paper, we propose a new index inspired by dynamic manipulability for redundent robot proposed by Yoshikawa to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is controlled, for example, end-effectors being controlled to a desired trajectory in task space. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability Ellipsoid (DME) describes a distribution of hand acceleration produced by normalized joint torque. Besides, Reconfiguration Manipulability Ellipsoid (RME) denotes a distribution of each link velocity produced by joint angular velocity. In this paper, we proposed a new concept named Dynamic Reconfiguration Manipulability (DRM) which combined dynamic manipulability with reconfiguration manipulability, and we examined and analyzed it through simulations to test and verify its validity and usefulness.
KW - Acceleration
KW - Dynamic
KW - Reconfiguration
UR - http://www.scopus.com/inward/record.url?scp=84907328135&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84907328135&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2013.6617892
DO - 10.1109/ICMA.2013.6617892
M3 - Conference contribution
AN - SCOPUS:84907328135
SN - 9781467355582
T3 - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
SP - 51
EP - 56
BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
PB - IEEE Computer Society
T2 - 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Y2 - 4 August 2013 through 7 August 2013
ER -