Non-singular configuration analyses of redundant manipulators for optimizing avoidance manipulability

Tongxiao Zhang, Fujia Yu, Mamoru Minami, Osami Yasukura, Wei Song, Akira Yanou, Mingcong Deng

Research output: Contribution to conferencePaper

Abstract

This paper is concerned with a new concept of avoidance manipulability inspired from manipulability. The manipulability represents the ability to generate velocity at the tip of each link without any designated hand task. The avoidance manipulability represents the shape-changeability (avoidance ability) of each intermediate link when a prior hand task is given. The intermediate links represents all comprising links of robot except top link with end-effector. The avoidance matrices, 1M i (i = 1; ¢ ¢ ¢ ; n ¡ 1) corresponding to all i-th intermediate links, are used for analyzing avoidance manipulability, resulting in that rank( 1M i) declares the shape-changeable space expansion and singular values of 1M i indicates the avoidance ability of i-th link. In this research, what assumption can guarantee mathematically the configurations with maximum rank( 1M i) is our main concern for maximizing shape-changeability to prepare effectively dynamic change of environment or sudden appearance of obstacles. Then we proved that our "Non-singular Configuration Assumption" can guarantee the maximum rank of 1M ithrough detailed decomposition analyses of 1M i.

Original languageEnglish
Pages963-970
Number of pages8
Publication statusPublished - 2010
EventJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan
Duration: Dec 8 2010Dec 12 2010

Other

OtherJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
CountryJapan
CityOkayama
Period12/8/1012/12/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

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  • Cite this

    Zhang, T., Yu, F., Minami, M., Yasukura, O., Song, W., Yanou, A., & Deng, M. (2010). Non-singular configuration analyses of redundant manipulators for optimizing avoidance manipulability. 963-970. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.