Dynamic Manipulability of Robot Manipulators

Effect of torque-velocity relationship on manipulability for robot manipulators

This paper presents novel manipulability analysis for robotic manipulators, taking the effect of generating joint torques on generable joint velocities and vice versa into consideration. The conventional manipulability is analysis in velocity domain and cannot concern force effect such as gravity of payload and external forces exerted on the endeffector. Gravitational force has been regarded th...

Manipulability Analysis for Mobile Manipulators

We extend the standard de nition of manipulability to the case of a nonholonomic mobile manipulator built from an n joint robotic arm and a nonholonomic mobile platform. The e ects of mounting the arm on a nonholonomic platform are shown through the analysis of the manipulability thus de ned. Applications of criteria inherited from manipulability considerations are given to justify design and t...

Instantaneuos kinematics and manipulability of mobile manipulators

We consider the kinematics of a mobile manipulator that consists of a non-holonomic (or holonomic) mobile platform and a holonomic manipulator mounted atop of the platform. At any fixed time instant and with fixed initial state of the platform these kinematics are viewed as a map from a Hilbert space of controls and manipulator’s joint positions into a taskspace of the mobile manipulator, and c...

Using Manipulability with Nonholonomi Mobile Manipulators

Force and dynamic manipulability for cooperating robot systems

A theory of force and dynamic manipulability for general systems of multiple cooperating robot manipula-tors is developed. Manipulability analysis refers to the study of the performance of the system regarded as a mechanical transformer of inputs (forces and torques at actuated joints) into outputs (forces and torques exchanged with the environment or accelerations of a reference member), in re...