Kinematic manipulability of general constrained rigid multibody systems

Author

Wen, John T. ; Wilfinger, Lee S.

Author_Institution

Center for Adv. Technol. in Autom., Robotics & Manuf., Rensselaer Polytech. Inst., Troy, NY, USA

Volume

2

fYear

1998

Firstpage

1020

Abstract

Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples

Keywords

Jacobian matrices; duality (mathematics); manipulator kinematics; duality; force manipulability ellipsoids; general constrained rigid multibody systems; kinematic manipulability; manipulable grasp; multi-leg walking robots; multiple cooperating manipulators; multiple fingers; unstable grasp; variable geometry trusses; velocity manipulability ellipsoids; Computer aided manufacturing; Ellipsoids; Fingers; Kinematics; Legged locomotion; Manipulators; Manufacturing automation; Robotics and automation; Robots; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.677222

Filename

677222