Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A study on the manipulability measures of robot manipulators

로봇의 조작도 지수에 관한 연구

  • Lee, Yeong-Il (Dept. of Mechatronics Engineering, Chungnam National University) ;
  • Lee, Ji-Hong (Dept. of Mechatronics Engineering, Chungnam National University)
  • 이영일 (충남대학교 항공우주 및 메카트로닉스공학과) ;
  • 이지홍 (충남대학교 메카트로닉스공학과)
  • Published : 1998.02.01
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Abstract

Regarding the measure of dexterity of robot manipulators, two geometric tools, manipulability ellipsoids and manipulability polytopes, are examined and compared with each other. Even though the manipulability ellipsoid approach is the most widely used technique, it is shown that the manipulability ellipsoid transforms the inexact joint velocity constraints into task space and so it may fail to give an exact measure of dexterity and optimal direction of motion in task space. After showing that the polytope approach can handle such problems, we propose a practical polytope method which can be applied to 3-dimensional task space in general. The relation between manipulability ellipsoids and manipulability polytopes are also explored for a redundant case and a non-redundant one.

Keywords

References

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