Impedance matching for a serial link manipulator

Ryo Kurazume, Tsutomu Hasegawa

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

We propose a new index for dynamic performance analysis of serial link manipulators named Impedance Matching Ellipsoid, or IME. Several indexes have been proposed for indicating static and dynamic performance of robot manipulators. For example, Dynamic Manipulability Ellipsoid (DME) characterizes distributions of hand acceleration produced by normalized joint torque. Manipulating-Force Ellipsoid (MFE) denotes static torque-force transmission efficiency from actuators at joints to a hand. On the other hand, the proposed IME characterizes dynamic torque-force transmission efficiency from actuators at joints to a load held at the hand of the manipulator. The IME includes a wide range of concepts proposed so far as measures of manipulator's performance. The DME and the MFE are both derived from the IME as limiting forms about the load mass. In this paper, we demonstrate the IME with some numerical examples including the selection of an optimal leg posture for jump robots, optimum active stiffness control, and an extension for manipulators mounted on satellites in outer space.

Original languageEnglish
Pages (from-to)4802-4808
Number of pages7
JournalUnknown Journal
Volume2004
Issue number5
Publication statusPublished - 2004

Fingerprint

torque
Manipulators
Torque
posture
Actuators
stiffness
Robots
Stiffness
Satellites
index

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering

Cite this

Impedance matching for a serial link manipulator. / Kurazume, Ryo; Hasegawa, Tsutomu.

In: Unknown Journal, Vol. 2004, No. 5, 2004, p. 4802-4808.

Research output: Contribution to journalArticle

Kurazume, R & Hasegawa, T 2004, 'Impedance matching for a serial link manipulator', Unknown Journal, vol. 2004, no. 5, pp. 4802-4808.
Kurazume, Ryo ; Hasegawa, Tsutomu. / Impedance matching for a serial link manipulator. In: Unknown Journal. 2004 ; Vol. 2004, No. 5. pp. 4802-4808.
@article{771974b8ed164e6f85845cd272f083c2,
title = "Impedance matching for a serial link manipulator",
abstract = "We propose a new index for dynamic performance analysis of serial link manipulators named Impedance Matching Ellipsoid, or IME. Several indexes have been proposed for indicating static and dynamic performance of robot manipulators. For example, Dynamic Manipulability Ellipsoid (DME) characterizes distributions of hand acceleration produced by normalized joint torque. Manipulating-Force Ellipsoid (MFE) denotes static torque-force transmission efficiency from actuators at joints to a hand. On the other hand, the proposed IME characterizes dynamic torque-force transmission efficiency from actuators at joints to a load held at the hand of the manipulator. The IME includes a wide range of concepts proposed so far as measures of manipulator's performance. The DME and the MFE are both derived from the IME as limiting forms about the load mass. In this paper, we demonstrate the IME with some numerical examples including the selection of an optimal leg posture for jump robots, optimum active stiffness control, and an extension for manipulators mounted on satellites in outer space.",
author = "Ryo Kurazume and Tsutomu Hasegawa",
year = "2004",
language = "English",
volume = "2004",
pages = "4802--4808",
journal = "Quaternary International",
issn = "1040-6182",
publisher = "Elsevier Limited",
number = "5",

}

TY - JOUR

T1 - Impedance matching for a serial link manipulator

AU - Kurazume, Ryo

AU - Hasegawa, Tsutomu

PY - 2004

Y1 - 2004

N2 - We propose a new index for dynamic performance analysis of serial link manipulators named Impedance Matching Ellipsoid, or IME. Several indexes have been proposed for indicating static and dynamic performance of robot manipulators. For example, Dynamic Manipulability Ellipsoid (DME) characterizes distributions of hand acceleration produced by normalized joint torque. Manipulating-Force Ellipsoid (MFE) denotes static torque-force transmission efficiency from actuators at joints to a hand. On the other hand, the proposed IME characterizes dynamic torque-force transmission efficiency from actuators at joints to a load held at the hand of the manipulator. The IME includes a wide range of concepts proposed so far as measures of manipulator's performance. The DME and the MFE are both derived from the IME as limiting forms about the load mass. In this paper, we demonstrate the IME with some numerical examples including the selection of an optimal leg posture for jump robots, optimum active stiffness control, and an extension for manipulators mounted on satellites in outer space.

AB - We propose a new index for dynamic performance analysis of serial link manipulators named Impedance Matching Ellipsoid, or IME. Several indexes have been proposed for indicating static and dynamic performance of robot manipulators. For example, Dynamic Manipulability Ellipsoid (DME) characterizes distributions of hand acceleration produced by normalized joint torque. Manipulating-Force Ellipsoid (MFE) denotes static torque-force transmission efficiency from actuators at joints to a hand. On the other hand, the proposed IME characterizes dynamic torque-force transmission efficiency from actuators at joints to a load held at the hand of the manipulator. The IME includes a wide range of concepts proposed so far as measures of manipulator's performance. The DME and the MFE are both derived from the IME as limiting forms about the load mass. In this paper, we demonstrate the IME with some numerical examples including the selection of an optimal leg posture for jump robots, optimum active stiffness control, and an extension for manipulators mounted on satellites in outer space.

UR - http://www.scopus.com/inward/record.url?scp=3042681494&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=3042681494&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:3042681494

VL - 2004

SP - 4802

EP - 4808

JO - Quaternary International

JF - Quaternary International

SN - 1040-6182

IS - 5

ER -