Dynamic manipulability analysis of compliant motion

Compliant motion tasks can be programmed by human demonstration without the use of the actual robot system. In space applications and sensor off-line programming systems the task is planned and programmed in a virtual reality environment which simulates the world model of the task to be performed. Furthermore, in industrial and service applications teaching devices measuring the force and motion of the human hand allow the operator to demonstrate a task in a very natural way. By using dynamic manipulability analysis of motion and force, we investigate if a compliant motion trajectory obtained by the above described demonstration processes can be executed on a given robot. We analyze the maximum task workspace of executability, the optimal robot-task configuration and the range of necessary or possible scaling factors for motion and forces. The approach is demonstrated using a numerical example