DocumentCode :
2041879
Title :
Robot acceleration capability: the actuation efficiency measure
Author :
Bowling, Alan ; Khatib, Oussama
Author_Institution :
Robotics Lab., Stanford Univ., CA, USA
Volume :
4
fYear :
2000
fDate :
2000
Firstpage :
3970
Abstract :
Presents a performance measure, the actuation efficiency, which describes isotropy in acceleration capability for non-redundant manipulators. It measures the imbalance between the end-effector accelerations achievable in different directions. Prior to this, no measure of this characteristic was adequate for a six degree-of-freedom manipulator because its end-effector motions are referenced to a mix of linear and angular coordinates. The proposed measure addresses both linear and angular accelerations. It also indicates oversized actuators, since this contributes to the imbalance in achievable accelerations. The development of this measure is based on the formulation of the motion isotropy hypersurface. The shape of this hypersurface is a weak indicator a acceleration isotropy
Keywords :
Jacobian matrices; manipulators; acceleration isotropy; actuation efficiency measure; angular coordinates; end-effector accelerations; linear coordinates; motion isotropy hypersurface; nonredundant manipulators; performance measure; robot acceleration capability; six degree-of-freedom manipulator; Acceleration; Accelerometers; Actuators; Computer science; Coordinate measuring machines; Laboratories; Manipulators; Robot kinematics; Shape; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
ISSN :
1050-4729
Print_ISBN :
0-7803-5886-4
Type :
conf
DOI :
10.1109/ROBOT.2000.845350
Filename :
845350
Link To Document :
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