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Paper WeC06.5

Choi, Hee-Byoung (Gwangju Institute of Science and Technology), Ryu, Jeha (Gwangju Inst. Science & Technology)

Convex Hull-Based Power Manipulability Analysis of Robot Manipulators

Scheduled for presentation during the Regular Session "Mobile Manipulation: Planning & Control" (WeC06), Wednesday, May 16, 2012, 15:30−15:45, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 19, 2018

Keywords Kinematics, Parallel Robots

Abstract

This paper presents the convex hull-based power manipulability analysis of robot manipulators. Since the manipulability analysis is essential for the design and performance evaluation of robot manipulators, many researchers have focused on the well-known manipulability ellipsoid and polytope based on the Jacobian analysis to investigate the corresponding information. In spite of the good reputation of the manipulability ellipsoid, it does not provide the adequate information about how fast the manipulators can move along arbitrary direction, and the manipulability polytope also suffers from a physical inconsistency which arise when position and orientation information are combined into a single scalar performance parameter. To overcome the drawback of the physical inconsistency, the power manipulability ellipsoid has been suggested based on a new parameter which does not depend on the physical unit choice of mechanisms. However, it still has the same drawback as the manipulability ellipsoid. Therefore, the purpose of this paper is to develop the convex hull-based power manipulability in order to provide the adequate information with the physical consistency. The proposed approach is applied to a 2-DOF serial manipulator and a 3-DOF planar parallel manipulator by comparing the ellipsoid approach and the polytope one.

 

 

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