Title :
Effect of Gravity on Manipulation Performance of a Robotic Arm
Author :
Yamawaki, Tasuku ; Yashima, Masahito
Author_Institution :
Dept. of Mech. Syst. Eng., National Defense Acad. of Japan, Yokosuka
Abstract :
The present paper introduces an evaluation of the manipulation performance of a robotic arm with respect to control accuracy and mechanical efficiency, taking into consideration the effects of gravity and the dynamic process between inputs and outputs in the robotic system. A measure based on the output controllability ellipsoid is proposed, which shows the relationship between the end-effector motion and the joint driving force. Computer simulations demonstrate the effects of gravity on the manipulation performance and the benefits of the proposed measure for the trajectory planning.
Keywords :
controllability; end effectors; gravity; manipulator dynamics; motion control; path planning; position control; control accuracy; dynamic process; end-effector motion; gravity effects; joint driving force; manipulation performance; mechanical efficiency; output controllability ellipsoid; robotic arm; trajectory planning; Computer simulation; Control systems; Controllability; Ellipsoids; Force measurement; Gravity; Manipulator dynamics; Motion measurement; Robots; Trajectory;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364158
