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 language | English |
|---|---|
| Title of host publication | 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 |
| Publisher | IEEE Computer Society |
| Pages | 51-56 |
| Number of pages | 6 |
| ISBN (Print) | 9781467355582 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan Duration: Aug 4 2013 → Aug 7 2013 |
Other
| Other | 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 |
|---|---|
| Country | Japan |
| City | Takamastu |
| Period | 8/4/13 → 8/7/13 |
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Keywords
- Acceleration
- Dynamic
- Reconfiguration
ASJC Scopus subject areas
- Artificial Intelligence
- Electrical and Electronic Engineering
- Mechanical Engineering
Cite this
Dynamic reconfiguration manipulability analysis of redundant robot. / Feng, Taoran; Kobayashi, Yosuke; Minami, Mamoru; Yanou, Akira.
2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. IEEE Computer Society, 2013. p. 51-56 6617892.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Dynamic reconfiguration manipulability analysis of redundant robot
AU - Feng, Taoran
AU - Kobayashi, Yosuke
AU - Minami, Mamoru
AU - Yanou, Akira
PY - 2013
Y1 - 2013
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
SN - 9781467355582
SP - 51
EP - 56
BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
PB - IEEE Computer Society
ER -