The Motion Isotropy Hypersurface: A Characterization of Acceleration Capability - Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
نویسندگان
چکیده
The study of acceleration capability is concerned with the responsiveness of a manipulator to controller commands. In this paper we present a general model for the analysis of end-effector linear and angular accelerations that accounts for the velocity effects. The separate treatment of linear and angular motion directly addresses the inhomogeneities of end-effector motions, avoiding the use of indeterminate scaling factors. The velocity effects considered are the Coriolis and centrifugal forces, as well as the relationships associated with actuator’s speed-torque performance curves. This study results in a characterization referred to as the ‘motion isotropy hypersurface” which describes the relationships between isotropic end-effector linear and angular velocities and accelerations. The utility of this surface and its associated information is demonstrated in a design application involving the PUMA 560 manipulator.
منابع مشابه
Self-Reconfigurable Molecule Robots as 3D Metamorphic Robots - Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
This paper describes a three-dimensional selfreconfiguring system that is capable of reconfiguration and the associated planning in polynomial tame. The approach is t o reduce a system composed of Molecule Robots [KRVM] to the Metamorphic Robots of [PaChSCh]. Having done so, we are able to apply polynomial-time planning algorithms that have previously been used only in two-dimensional systems.
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The study of acceleration capability is concerned with the responsiveness of a manipulator to controller commands. In this paper we present a general model for the analysis of end-eeector linear and angular accelerations that accounts for the velocity eeects. The separate treatment of linear and angular motion directly addresses the inhomogeneities of end-eeector motions, avoiding the use of in...
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