The acceleration radius: a global performance measure for robotic manipulators

Author

Graettinger, Timothy J. ; Krogh, Bruch H.

Author_Institution

Dept. of Electr. Eng. & Comput. Eng., Carnegie-Mellon Univ., Pittsburg, PA, USA

Volume

4

Issue

1

fYear

1988

fDate

2/1/1988 12:00:00 AM

Firstpage

60

Lastpage

69

Abstract

The acceleration radius is defined as a global index for quantifying the dynamic capabilities of manipulator-positioning systems over a continuous operation region. It is generalization of previously proposed manipulability indices that are local measures of the acceleration capability. The problem of computing the acceleration radius is formulated as an optimization problem. A numerical algorithm for solving the resulting generalized semi-infinite program is presented, and the application of the acceleration radius concept to examples of manipulator design and workspace specification is illustrated. Several directions for future research are discussed

Keywords

optimisation; performance index; position control; robots; acceleration radius concept; dynamic capabilities; global performance measure; manipulator-positioning systems; optimization; Acceleration; Accelerometers; Actuators; Algorithm design and analysis; Design engineering; Design optimization; Manipulator dynamics; Manufacturing; Position measurement; Service robots;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Journal of

Publisher

ieee

ISSN

0882-4967

Type

jour

DOI

10.1109/56.772

Filename

772