The dynamic manipulability ellipsoid for redundant manipulators

Chiaacchio, P.; Concilio, Marina

doi:10.1109/robot.1998.676321

Cited by 30 publications

(22 citation statements)

References 9 publications

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“…The dynamic manipulability was studied in detail in Yoshikawa [5] and Chiacchio and Concilio [7]. In the general case, if the bounds of each joint torque are not equal, we scale the torques to obtain the unit sphere bȳ…”

Section: B Dynamic Manipulabilitymentioning

confidence: 99%

“…In this case a metric of how well a unit sphere of joint torques are able to generate end-effector accelerations was derived. The dynamic manipulability has been developed further in Chiacchio et al [6] where the effects of gravity was included in the formulation and in Chiacchio and Concilio [7] where an improved formulation of the redundant case was presented.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic manipulability of velocity-constrained serial robotic manipulators

Pham

From

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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This paper presents a new performance metric for serial manipulators with velocity constraints on the chain. These systems arise in several different applications such as serial manipulators in the presence of obstacles and in roboticsassisted minimally invasive surgery. It is important to know how constraints on the chain affect the mobility of the end effector and we therefore present a reformulation of the dynamic manipulability of the end effector for serial manipulators with velocity constraints on the chain. In this paper we propose to use the Constrained Jacobian Matrix, i.e., an analytical mapping between the end-effector and joint velocities that also takes the chain constraints into account. The approach allows us to compare the dynamic manipulability of serial manipulators with and without constraints and we show through a simple planar example how the dynamic manipulability is reduced as a result of the trocar constraint in minimally invasive surgery.

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Section: B Dynamic Manipulabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic manipulability of velocity-constrained serial robotic manipulators

Pham

From

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

View full text Add to dashboard Cite

show abstract

“…The dynamic manipulability of manipulators has been studied by Yoshikawa [9]. The concept was further refined by the inclusion of gravitational forces by Chiacchio et al [10] who later proposed the more accurate characterization of dynamic manipulability for redundant manipulators [11].…”

Section: Whmanmentioning

confidence: 99%

“…Now the dynamic manipulability of the manipulator can be characterized in terms Dynamic Manipulability Ellipsoid (DME) which is manipulator's capability to accelerate in the operational-space for a given set of joint-space forces. The detail of DME can found in [11]. For this purpose it can be assumed that manipulator is at rest and its end-effector is not constrained i.e.…”

Section: Dynamic Manipulabilitymentioning

confidence: 99%

Advantage of redundancy in the controllability of remote handling manipulator

Muhammad

Mattila

Vilenius

et al. 2011

Fusion Engineering and Design

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“…However, the dynamic performance should be taken into account for the design, more advanced control and trajectory planning. Several dynamic performance indices have been presented in the literature [24,[42][43][44][45][46][47][48][49][50][51]. Ma and Angeles [42,43] introduced the concept of the dynamic conditioning index, which was defined as the least-squares difference between the generalized inertia matrix and an isotropic matrix.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Formulation and Performance Evaluation of the 6-d.o.f. Parallel Structure Seismic Simulator

et al. 2009

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This paper presents the dynamic formulation and performance evaluation of the 6-d.o.f. parallel structure seismic simulator. By means of the principle of virtual work and the concept of link Jacobian matrices, the inverse dynamic model of the seismic simulator is set up. Then, a series of new dynamic performance indices with obvious physical meanings have been proposed. The dynamic performance index combining the acceleration, velocity and gravity terms of the dynamic equations has been achieved by decoupling the inverse dynamics in an exhaustive way. By using the index, it is possible for us to evaluate the performance in different directions. The index has been applied to the dynamic characteristic evaluation of the 6-d.o.f. parallel structure seismic simulator in the numerical simulation. Conclusions and results are provided at the end of the paper.

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The dynamic manipulability ellipsoid for redundant manipulators

Cited by 30 publications

References 9 publications

Dynamic manipulability of velocity-constrained serial robotic manipulators

Dynamic manipulability of velocity-constrained serial robotic manipulators

Advantage of redundancy in the controllability of remote handling manipulator

Dynamic Formulation and Performance Evaluation of the 6-d.o.f. Parallel Structure Seismic Simulator

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