Translating Dynamic Manipulability Polyhedron by Coupling with Velocity and Acceleration in Kinematically Redundant Manipulators

Abstract

In this research, we examine about acceleration coupling with velocity on extended operational space of a kinetic redundant manipulator. The coupling with velocity appears as a translating a dynamic manipulability polyhedron. The extended operational space is consisted of operational space and redundant space. Redundant space is null space of operational space that is spanned by column vectors of the Jacobi matrix. We clarify translating the dynamic manipulability polyhedron by deriving basis vectors of translating vector and vertex vectors of dynamic manipulability polyhedron that are independent of velocity on the extended operational space. Appropriateness of the translation of dynamic manipulability polyhedron is confirmed by calculating the dynamic manipulability polyhedron with various velocities on simulation.

A general method for the manipulability analysis of serial robot manipulators

“…Their work focused on the static force capability for redundant manipulators. Okabe 11 investigated the translating manipulability polytope of kinematic redundant manipulator and discovered that the translation vector is a function of velocity and acceleration of the extended task space. Nokleby et al.…”