2016年12月
Dynamic Reconfiguration Manipulability for Redundant Manipulators
Journal of Mechanisms and Robotics-Transactions of the ASME
- ,
- ,
- ,
- 巻
- 8
- 号
- 6
- 開始ページ
- 061004
- 終了ページ
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1115/1.4033667
- 出版者・発行元
- ASME
This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shape-changeability 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.
- リンク情報
- ID情報
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- DOI : 10.1115/1.4033667
- ISSN : 1942-4302
- eISSN : 1942-4310
- Web of Science ID : WOS:000392870300004