Title :
Cartesian space dynamic model of serial-parallel manipulator systems and their dynamic performance evaluation
Author :
Kim, Sungbok ; Lee, Sukhan
Author_Institution :
Dept. of Electr. Eng.-Syst. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
A Cartesian space forward and inverse dynamic model of serial-parallel manipulator systems is presented. The systems dynamic manipulability is defined as the capability of generating Cartesian accelerations within joint torque limits of individual arms. The dynamic performance of serial-parallel manipulator systems is then evaluated by analyzing the effects of object loading, parallel structure, bracing, and joint locking on the dynamic manipulability
Keywords :
control system synthesis; dynamics; inverse problems; manipulators; Cartesian accelerations; Cartesian space dynamic model; bracing; dynamic manipulability; dynamic performance evaluation; forward dynamic model; inverse dynamic model; joint locking; joint torque limits; object loading; parallel structure; serial-parallel manipulator systems; Acceleration; Arm; Humans; Inverse problems; Jacobian matrices; Manipulator dynamics; Muscles; Performance analysis; Power system modeling; Space technology; Torque;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371727
