NDLI: Dynamic analysis of mobility and graspability of general manipulation systems

Content Provider	IEEE Xplore Digital Library
Author	Prattichizzo, D. Bicchi, A.
Copyright Year	1989
Abstract	We present a geometric approach to the dynamic analysis of manipulation systems of a rather general class, including some important types of manipulators as, e.g., cooperating, super-articulated, and whole-arm manipulators. The focus is in particular on simple industry-oriented devices, for which a minimalistic design approach requires a clear understanding of mobility and graspability properties in the presence of kinematic defectivity. The paper discusses the dynamics of these systems, and considers how their structural properties (in the classical system-theoretic sense, i.e., stability, controllability, observability, etc.) are related to frequently used concepts in robotics such as "redundancy", "graspability", "mobility", and "indeterminacy". Less common or novel concepts, such as those of "defectivity," "hyperstaticity," and "dynamic graspability", are elicited and/or enlightened by this study. Some important practical consequences of the limited control possibilities of defective systems are thus put into evidence. Finally, a standard form of the dynamics of general manipulation systems is provided as a compact and readable synopsis of the dynamic structure. The form is a valuable tool for synthesizing dynamic controllers for such systems, especially suited to geometric control design methods.
Starting Page	241
Ending Page	258
Page Count	18
File Size	879131
File Format	PDF
ISSN	1042296X
Volume Number	14
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-04-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Control system synthesis Electrical equipment industry Kinematics Stability Controllability Observability Robot sensing systems Control systems Control design
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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