A new index of serial-link manipulator performance combining dynamic manipulability and manipulating force ellipsoids

The inertia matching ellipsoid (IME) is proposed as a new index of dynamic performance for serial-link robotic manipulators. The IME integrates the existing dynamic manipulability and manipulating-force ellipsoids to achieve an accurate measure of the dynamic torque-force transmission efficiency bet...

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Bibliographic Details
Published in:IEEE transactions on robotics 2006-10, Vol.22 (5), p.1022-1028
Main Authors: Kurazume, R., Hasegawa, T.
Format: Article
Language:English
Subjects:
Acceleration
Accelerometers
Actuators
Angular velocity
Dynamic manipulability ellipsoid (DME)
Ellipsoids
Force measurement
Gears
manipulability
manipulating force ellipsoid (MFE)
Manipulator dynamics
manipulators
Robots
Torque measurement
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Summary:The inertia matching ellipsoid (IME) is proposed as a new index of dynamic performance for serial-link robotic manipulators. The IME integrates the existing dynamic manipulability and manipulating-force ellipsoids to achieve an accurate measure of the dynamic torque-force transmission efficiency between the joint torque and the force applied to a load held by an end-effector. The dynamic manipulability and manipulating-force ellipsoids can both be derived from the IME as limiting forms, with respect to the weight of the load. The effectiveness of the IME is demonstrated numerically through the selection of an optimal leg posture for jumping robots and optimal active stiffness control, and experimentally through application to a pick-up task using a commercial manipulator. The index is also extended theoretically to the case of a manipulator mounted on a free-flying satellite
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2006.878949