Robot manipulability

Author

Doty, Keith L. ; Melchiorri, Claudio ; Schwartz, Eric M. ; Bonivento, Claudio

Author_Institution

Machine Intelligence Lab., Florida Univ., Gainesville, FL, USA

Volume

11

Issue

3

fYear

1995

fDate

6/1/1995 12:00:00 AM

Firstpage

462

Lastpage

468

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;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.388791

Filename

388791