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A new dynamic manipulability ellipsoid for redundant manipulators

Published online by Cambridge University Press:  09 April 2001

Pasquale Chiacchio
Pasquale Chiacchio
Affiliation:
Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy)pasquale.chiacchio@unina.it
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Abstract

Manipulability ellipsoids are effective tools to perform task space analysis of robotic manipulators in terms of velocities, accelerations and forces at the end effector. In this paper a new definition of a dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator capabilities in terms of task-space accelerations. The case of manipulators in singular configurations is also analyzed. Two case studies are presented to illustrate the correctness of the proposed approach.

Keywords

RoboticsPerformance evaluationRedundant manipulators
Type
Research Article
Information
Robotica , Volume 18 , Issue 4 , July 2000 , pp. 381 - 387
Copyright
© 2000 Cambridge University Press

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