TY - JOUR
T1 - A new index of serial-link manipulator performance combining dynamic manipulability and manipulating force ellisoids
AU - Kurazume, Ryo
AU - Hasegawa, Tsutomu
N1 - Funding Information:
Manuscript received March 31, 2005; revised August 11, 2005. This paper was recommended by Associate Editors K. Yoshida and D. Prattichizzo and by Editors I. Walker and K. Lynch upon evaluation of the reviewers’ comments. This work was supported in part by the 21st Century Center of Excellence Program under the title of “Reconstruction of Social Infrastructure Related to Information Science and Electrical Engineering,” and in part by the Ministry of Public Management, Home Affairs, Posts and Telecommunications of Japan under the Strategic Information and Communications R&D Promotion Programme (SCOPE). This paper was presented in part at the IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004.
PY - 2006/10
Y1 - 2006/10
N2 - The inertia matching ellipsoid (IME) is proposed as a new index of dynamic performance for serial-link robotic manipulators. The IME integrates the existing dynamic manipulability and manipulating-force ellipsoids to achieve an accurate measure of the dynamic torque-force transmission efficiency between the joint torque and the force applied to a load held by an end-effector. The dynamic manipulability and manipulating-force ellipsoids can both be derived from the IME as limiting forms, with respect to the weight of the load. The effectiveness of the IME is demonstrated numerically through the selection of an optimal leg posture for jumping robots and optimal active stiffness control, and experimentally through application to a pick-up task using a commercial manipulator. The index is also extended theoretically to the case of a manipulator mounted on a free-flying satellite.
AB - The inertia matching ellipsoid (IME) is proposed as a new index of dynamic performance for serial-link robotic manipulators. The IME integrates the existing dynamic manipulability and manipulating-force ellipsoids to achieve an accurate measure of the dynamic torque-force transmission efficiency between the joint torque and the force applied to a load held by an end-effector. The dynamic manipulability and manipulating-force ellipsoids can both be derived from the IME as limiting forms, with respect to the weight of the load. The effectiveness of the IME is demonstrated numerically through the selection of an optimal leg posture for jumping robots and optimal active stiffness control, and experimentally through application to a pick-up task using a commercial manipulator. The index is also extended theoretically to the case of a manipulator mounted on a free-flying satellite.
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U2 - 10.1109/TRO.2006.878949
DO - 10.1109/TRO.2006.878949
M3 - Article
AN - SCOPUS:33750223913
SN - 1552-3098
VL - 22
SP - 1022
EP - 1028
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 5
ER -