Erratum to ?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...

Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use the models derived to generalize the standard definition of manipulability to the case of mobile manipulators. The effects of mounting a robotic arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Several ap...

Using Manipulability with Nonholonomi Mobile Manipulators