Abstract
This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shapechangeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task. DRM represents how much acceleration each intermediate link can generate and in what direction the acceleration can be realized based on normalized torque inputs. This concept will aid in the optimization of the design and control of robots. The appropriateness and usefulness of DRM were confirmed by applying it to redundant manipulators and comparing it with the known concept of avoidance manipulability.
| Original language | English |
|---|---|
| Article number | 061004 |
| Journal | Journal of Mechanisms and Robotics |
| Volume | 8 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - Dec 1 2016 |
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ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Dynamic reconfiguration manipulability for redundant manipulators. / Minami, Mamoru; Li, Xiang; Matsuno, Takayuki; Yanou, Akira.
In: Journal of Mechanisms and Robotics, Vol. 8, No. 6, 061004, 01.12.2016.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Dynamic reconfiguration manipulability for redundant manipulators
AU - Minami, Mamoru
AU - Li, Xiang
AU - Matsuno, Takayuki
AU - Yanou, Akira
PY - 2016/12/1
Y1 - 2016/12/1
N2 - This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shapechangeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task. DRM represents how much acceleration each intermediate link can generate and in what direction the acceleration can be realized based on normalized torque inputs. This concept will aid in the optimization of the design and control of robots. The appropriateness and usefulness of DRM were confirmed by applying it to redundant manipulators and comparing it with the known concept of avoidance manipulability.
AB - This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shapechangeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task. DRM represents how much acceleration each intermediate link can generate and in what direction the acceleration can be realized based on normalized torque inputs. This concept will aid in the optimization of the design and control of robots. The appropriateness and usefulness of DRM were confirmed by applying it to redundant manipulators and comparing it with the known concept of avoidance manipulability.
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UR - http://www.scopus.com/inward/citedby.url?scp=84986327442&partnerID=8YFLogxK
U2 - 10.1115/1.4033667
DO - 10.1115/1.4033667
M3 - Article
AN - SCOPUS:84986327442
VL - 8
JO - Journal of Mechanisms and Robotics
JF - Journal of Mechanisms and Robotics
SN - 1942-4302
IS - 6
M1 - 061004
ER -