Reconfiguration Manipulability Analyses for Redundant Robots

Abstract

This paper is concerned with a concept of reconfiguration manipulability inspired from manipulability. The reconfiguration manipulability represents a shape-changeability of each intermediate link when a prior end-effector task is given. Through analyses of reconfiguration matrices, we propose a method to judge whether the plural shapechanging subtasks can be executed simultaneously or not. Then the sufficient conditions guaranteeing sustainability of reconfiguration manipulability space are presented, which are the conditions for keeping the reconfiguration manipulability as high as possible under the prior end-effector task. Further, we confirm the proposed analyses can be useful practically for evaluating the realistic manipulator's configurations and structures.

Effects of the weighting matrix on dynamic manipulability of robots

“…Over the last two or three decades, many studies have been done on robot manipulability. Also many researchers have used manipulability metrics/ellipsoids in order to design more efficient robots or find better and more efficient configurations for robots to perform certain tasks Bagheri et al 2015;Bowling and Khatib 2005;Guilamo et al 2006;Kashiri and Tsagarakis 2015;Tanaka et al 2006;Tonneau et al 2014Tonneau et al , 2016Zhang et al 2013). However, almost all of these studies have overlooked the effects of not using (or using inappropriate) a weighting matrix.…”