Effect of Gravity on Manipulation Performance of a Robotic Arm

Author

Yamawaki, Tasuku ; Yashima, Masahito

Author_Institution

Dept. of Mech. Syst. Eng., National Defense Acad. of Japan, Yokosuka

fYear

2007

fDate

10-14 April 2007

Firstpage

4407

Lastpage

4413

Abstract

The present paper introduces an evaluation of the manipulation performance of a robotic arm with respect to control accuracy and mechanical efficiency, taking into consideration the effects of gravity and the dynamic process between inputs and outputs in the robotic system. A measure based on the output controllability ellipsoid is proposed, which shows the relationship between the end-effector motion and the joint driving force. Computer simulations demonstrate the effects of gravity on the manipulation performance and the benefits of the proposed measure for the trajectory planning.

Keywords

controllability; end effectors; gravity; manipulator dynamics; motion control; path planning; position control; control accuracy; dynamic process; end-effector motion; gravity effects; joint driving force; manipulation performance; mechanical efficiency; output controllability ellipsoid; robotic arm; trajectory planning; Computer simulation; Control systems; Controllability; Ellipsoids; Force measurement; Gravity; Manipulator dynamics; Motion measurement; Robots; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.364158

Filename

4209776