Manipulability of Cooperating Robots with Passive Joints
نویسندگان
چکیده
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 کاملGeneration of Manipulability Ellipsoids for Different Configurations Using the Yoshikawa’s Manipulability Index and Manipulability Ellipsoid
In this paper, we study different manipulating ways which can be used in Robotic Devices, to make the Robots Responsive to Obstacles while performing a given Task. Differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints and actuators are given efforts and researched for developing enhancive Robots. Therefore, m...
متن کاملForce 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...
متن کاملKinematics and Dynamics of two Cooperating Robots in Spatial Moving of an Object
The kinematics and dynamics of two industrial cooperating robots are presented in this paper. The NOC (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. The joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. To this end, minimizing the cr...
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 کامل