This paper presents novel manipulability analysis for robotic manipulators, taking the effect of generating joint torques on generable joint velocities and vice versa into consideration. The conventional manipulability is analysis in velocity domain and cannot concern force effect such as gravity of payload and external forces exerted on the endeffector. Gravitational force has been regarded that it just changes the origin of the manipulability ellipsoid expressing the set of generable tip velocities, and its evaluation (its volume) does not change. However, if robot grasps a heavy object, the robot cannot move with the same speed as the case of grasping a light object, because the power of the robot is limited. It indicates that the robot performance evaluation by conventional manipulability has serious problem that the force effect cannot be included. The power of the robot is determined by the operation range of every actuator, which tells us the relationship between generating torque/velocity and addable velocity/torque. Then, this paper presents novel manipulability analysis which can take the force effect into consideration, based on the torque-velocity relationship. This analysis shows that manipulability is influenced by payload, gravitational force, and external forces.
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November 2011
Research Papers
Effect of Torque-Velocity Relationship on Manipulability for Robot Manipulators
Tetsuyou Watanabe
Tetsuyou Watanabe
Assistant Professor
School of Mechanical Engineering, College of Science and Engineering,
Kanazawa University
, Kakuma-machi, Kanazawa 920-1192, Japan e-mail:
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Tetsuyou Watanabe
Assistant Professor
School of Mechanical Engineering, College of Science and Engineering,
Kanazawa University
, Kakuma-machi, Kanazawa 920-1192, Japan e-mail: J. Mechanisms Robotics. Nov 2011, 3(4): 041007 (9 pages)
Published Online: September 27, 2011
Article history
Received:
December 3, 2010
Revised:
March 26, 2011
Online:
September 27, 2011
Published:
September 27, 2011
Citation
Watanabe, T. (September 27, 2011). "Effect of Torque-Velocity Relationship on Manipulability for Robot Manipulators." ASME. J. Mechanisms Robotics. November 2011; 3(4): 041007. https://doi.org/10.1115/1.4004895
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