Manipulability of Closed Kinematic Chains
نویسندگان
چکیده
This paper presents a coordinate-invariant differential geometric analysis of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredundant mechanisms, as well as over-actuated and exactly actuated ones, in a uniform manner. Dynamic characteristics of the mechanism and manipulated object can also be naturally included by an appropriate choice ofRiemannian metric. We illustrate the methodology with several closed chain examples, and provide a practical algorithm for manipulability analysis of general chains.
منابع مشابه
Manipulability of cooperating robots with unactuated joints and closed-chain mechanisms
In this paper, we study the differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints. The kinematic manipulability indices are derived extending previous results on cooperating robots without passive joints. The force manipulability analysis for cooperative robot systems cannot be straightforwardly derived by “d...
متن کاملA Theorem on the Manipulability of Redundant Serial Kinematic Chains
concept of 'manipulability' is particularly important to characterize the ability of a serial kinematic chain – artificial manipulator or natural limb – to move quickly its end-effector in any direction of its operational space in response to given joint velocities. Yoshikawa's manipulability definition has shown its benefit for robotics. According to him the robot manipulability can be measure...
متن کاملKinematic Manipulability of General Constrained Rigid Multibody Systems
This paper extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multileg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their dualit...
متن کاملSingularity Analysis of Closed Kinematic Chains
This paper presents a coordinate-invariant differential geometric analysis of kinematic singularities for closed kinematic chains containing both active and passive joints. Using the geometric framework developed in Park and Kim (1996) for closed chain manipulability analysis, we classify closed chain singularities into three basic types: (i) those corresponding to singular points of the joint ...
متن کاملOn the Manipulability of Velocity-constrained Serial Robotic Manipulators
Abstract: This paper presents a performance metric for the manipulability of constrained serial manipulators. The manipulability measure and manipulability ellipsoid are found from the manipulability Jacobian, which is easily found for serial manipulators as the standard Jacobian matrix, or for parallel manipulators as the Jacobian that gives the mapping from the active joint velocities to the ...
متن کامل