Title :
Kinematic manipulability of general constrained rigid multibody systems
Author :
Wen, John T. ; Wilfinger, Lee S.
Author_Institution :
Center for Adv. Technol. in Autom., Robotics & Manuf., Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples
Keywords :
Jacobian matrices; duality (mathematics); manipulator kinematics; duality; force manipulability ellipsoids; general constrained rigid multibody systems; kinematic manipulability; manipulable grasp; multi-leg walking robots; multiple cooperating manipulators; multiple fingers; unstable grasp; variable geometry trusses; velocity manipulability ellipsoids; Computer aided manufacturing; Ellipsoids; Fingers; Kinematics; Legged locomotion; Manipulators; Manufacturing automation; Robotics and automation; Robots; Torque;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677222
