Dynamic reconfiguration manipulability analysis of redundant robot

Taoran Feng, Yosuke Kobayashi, Mamoru Minami, Akira Yanou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
PublisherIEEE Computer Society
Pages51-56
Number of pages6
ISBN (Print)9781467355582
DOIs
Publication statusPublished - Jan 1 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: Aug 4 2013Aug 7 2013

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period8/4/138/7/13

Keywords

  • Acceleration
  • Dynamic
  • Reconfiguration

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Feng, T., Kobayashi, Y., Minami, M., & Yanou, A. (2013). Dynamic reconfiguration manipulability analysis of redundant robot. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 51-56). [6617892] (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). IEEE Computer Society. https://doi.org/10.1109/ICMA.2013.6617892