DocumentCode :
3331727
Title :
Manipulability measures taking necessary joint torques for grasping into consideration
Author :
Watanabe, Tetsuyou
Author_Institution :
Coll. of Sci. & Eng., Kanazawa Univ., Kanazawa, Japan
fYear :
2010
fDate :
18-22 Oct. 2010
Firstpage :
598
Lastpage :
603
Abstract :
This paper presents new manipulability measures to evaluate how much easily the robot manipulates the grasped object, simultaneously taking how much magnitude of joint torque we need to keep grasping into consideration. For the purpose, we use operation range. The operation range is for actuator attached to every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and addable velocity/torque). While we introduced a manipulability measure using the operation range in our previous paper, it was for a limited class due to large computational effort and we could not evaluate whole space of object velocity and could not consider whole space of external wrench. This paper proposes new manipulability measures which can evaluate whole space of object velocity, taking the effect of external wrench in whole space into consideration.
Keywords :
actuators; end effectors; torque; actuator; external wrench; grasping; joint torques; manipulability measures; object velocity; operation range; robot manipulation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
ISSN :
2153-0858
Print_ISBN :
978-1-4244-6674-0
Type :
conf
DOI :
10.1109/IROS.2010.5651352
Filename :
5651352
Link To Document :
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