Effects of the weighting matrix on dynamic manipulability of robots

Dynamic manipulability of robots is a well-known tool to analyze, measure and predict a robot’s performance in executing different tasks. This tool provides a graphical representation and a set of metrics as outcomes of a mapping from joint torques to the acceleration space of any point of interest...

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Bibliographic Details
Published in:Autonomous robots 2019-10, Vol.43 (7), p.1867-1879
Main Authors: Azad, Morteza, Babič, Jan, Mistry, Michael
Format: Article
Language:English
Subjects:
Acceleration
Artificial Intelligence
Computer Imaging
Control
Ellipsoids
Engineering
Graphical representations
Mapping
Mechatronics
Pattern Recognition and Graphics
Robotics
Robotics and Automation
Robots
Vision
Weighting
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Summary:Dynamic manipulability of robots is a well-known tool to analyze, measure and predict a robot’s performance in executing different tasks. This tool provides a graphical representation and a set of metrics as outcomes of a mapping from joint torques to the acceleration space of any point of interest of a robot such as the end-effector or the center of mass. In this paper, we show that the weighting matrix, which is included in the aforementioned mapping, plays a crucial role in the results of the dynamic manipulability analysis. Therefore, finding proper values for this matrix is the key to achieve reliable results. This paper studies the importance of the weighting matrix for dynamic manipulability of robots, which is overlooked in the literature, and suggests two physically meaningful choices for that matrix. We also explain three different metrics, which can be extracted from the graphical representations (i.e. ellipsoids) of the dynamic manipulability analysis. The application of these metrics in measuring a robot’s physical ability to accelerate its end-effector in various desired directions is discussed via two illustrative examples.
ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-018-09819-y