Title :
Task accuracy measure based on dynamic process for cooperating manipulation system
Author :
Yamawaki, Tasuku ; Yashima, Masahito
Author_Institution :
Dept. of Mech. Syst. Eng., Nat. Defense Acad. of Japan, Yokosuka
Abstract :
The present paper introduces an evaluation of the manipulation performance of a cooperating robotic manipulator with respect to task accuracy, taking into consideration the effects of the dynamic process between inputs and outputs in the manipulation system. A measure based on the output controllability of the manipulation system is proposed, which shows the relationship between the object´s position and orientation and the joint driving force. Computer simulations show the validity of the task accuracy measure and the difference between the proposed measure and the conventional manipulability measure.
Keywords :
force control; manipulator dynamics; manipulator kinematics; position control; cooperating robotic manipulator; dynamic process; joint driving force; kinematic manipulator; manipulation system controllability; object position; task accuracy measure; Acceleration; Computer simulation; Controllability; Ellipsoids; Force measurement; Kinematics; Manipulator dynamics; Orbital robotics; Robotics and automation; Velocity measurement;
Conference_Titel :
Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4244-2631-7
Electronic_ISBN :
978-1-4244-2632-4
DOI :
10.1109/ICMA.2008.4798891
