This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shape-changeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task. DRM represents how much acceleration each intermediate link can generate and in what direction the acceleration can be realized based on normalized torque inputs. This concept will aid in the optimization of the design and control of robots. The appropriateness and usefulness of DRM were confirmed by applying it to redundant manipulators and comparing it with the known concept of avoidance manipulability.
Dynamic Reconfiguration Manipulability for Redundant Manipulators
Science and Technology,
Okayama 700-8530, Japan
Manuscript received July 30, 2015; final manuscript received May 6, 2016; published online September 6, 2016. Assoc. Editor: Leila Notash.
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Minami, M., Li, X., Matsuno, T., and Yanou, A. (September 6, 2016). "Dynamic Reconfiguration Manipulability for Redundant Manipulators." ASME. J. Mechanisms Robotics. December 2016; 8(6): 061004. https://doi.org/10.1115/1.4033667
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