Title :
Evaluation of force capabilities for redundant manipulators
Author :
Chiacchio, Pasquale ; Bouffard-Vercelli, Yann ; Pierrot, Francois
Author_Institution :
Dipartimento di Inf. e Sistemistica, Universita degli Studi di Napoli, Italy
Abstract :
Manipulability ellipsoids and polytopes are well-known tools to graphically represents these capabilities. This paper focuses on the evaluation of force capabilities for redundant manipulators, for which additional constraints must be imposed on the available joint torques in order to satisfy the static assumption. An algorithm to correctly evaluate the task space force polytope is given and a new definition of the force ellipsoid is proposed. The obtained results can be applied also to nonredundant manipulators in singular configurations. Numerical results are provided in the case of a planar redundant arm
Keywords :
Jacobian matrices; manipulator kinematics; redundancy; singular value decomposition; force capabilities; joint torques; manipulability ellipsoids; manipulability polytopes; nonredundant manipulators; planar redundant arm; redundant manipulators; singular configurations; task space force polytope; Ellipsoids; Extraterrestrial measurements; Force measurement; Gravity; IEEE members; Manipulator dynamics; Orbital robotics; Performance evaluation; Robot kinematics; Velocity measurement;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509249
