Title :
Robot manipulability
Author :
Doty, Keith L. ; Melchiorri, Claudio ; Schwartz, Eric M. ; Bonivento, Claudio
Author_Institution :
Machine Intelligence Lab., Florida Univ., Gainesville, FL, USA
fDate :
6/1/1995 12:00:00 AM
Abstract :
This paper demonstrates fundamental problems with dexterity measures found throughout the robotics literature and offers a methodology for correcting those problems. Measures of robot dexterity derived from eigenvalues, eigenvectors, similarity transformations, singular-value decompositions and the Moore-Penrose inverse of the manipulator Jacobian do not have invariant physical meaning. The paper presents manipulability ellipsoids and manipulability screw-subspaces for both redundant and nonredundant manipulators
Keywords :
Jacobian matrices; eigenvalues and eigenfunctions; manipulators; singular value decomposition; Moore-Penrose inverse; dexterity measures; eigenvalues; eigenvectors; manipulability ellipsoids; manipulability screw-subspaces; nonredundant manipulators; redundant manipulators; robot manipulability; similarity transformations; singular-value decompositions; Ellipsoids; Fasteners; Filtering theory; Jacobian matrices; Manipulator dynamics; Orbital robotics; Path planning; Robot kinematics; Springs; Trajectory;
Journal_Title :
Robotics and Automation, IEEE Transactions on
