NDLI: Convex hull-based power manipulability analysis of robot manipulators

Content Provider	IEEE Xplore Digital Library
Author	Hee-Byoung Choi Jeha Ryu
Copyright Year	2012
Description	Author affiliation: School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 261 Cheomdan-gwagiro(Oryong-dong), Buk-gu, 500-712, Republic of Korea (Jeha Ryu) \|\| School of Information and Mechatronics, Gwangju Institute of Science and Technology (GIST), 261 Cheomdan-gwagiro (Oryong-dong), Buk-gu, 500-712, Republic of Korea (Hee-Byoung Choi)
Abstract	This paper presents the convex hull-based power manipulability analysis of robot manipulators. Since the manipulability analysis is essential for the design and performance evaluation of robot manipulators, many researchers have focused on the well-known manipulability ellipsoid and polytope based on the Jacobian analysis to investigate the corresponding information. In spite of the good reputation of the manipulability ellipsoid, it does not provide the adequate information about how fast the manipulators can move along arbitrary direction, and the manipulability polytope also suffers from a physical inconsistency which arise when position and orientation information are combined into a single scalar performance parameter. To overcome the drawback of the physical inconsistency, the power manipulability ellipsoid has been suggested based on a new parameter which does not depend on the physical unit choice of mechanisms [1]. However, it still has the same drawback as the manipulability ellipsoid. Therefore, the purpose of this paper is to develop the convex hull-based power manipulability in order to provide the adequate information with the physical consistency. The proposed approach is applied to a 2-DOF serial manipulator and a 3-DOF planar parallel manipulator by comparing the ellipsoid approach and the polytope one.
Starting Page	2972
Ending Page	2977
File Size	791660
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225221
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Ellipsoids Joints Performance analysis Jacobian matrices Force
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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