SEARCH
MENU

History of Robotics Research and Development of Japan1984ManipulationManipulator/Research on Manipulability

Tsuneo YoshikawaKyoto University
One of the most important factors we need to consider when we determine the mechanism and size of a robot manipulator at the design stage and when we determine the posture of the manipulator in the workspace for performing a given task at the operation stage will be the ease of changing arbitrarily the position and orientation of the end-effector at the tip of the manipulator. The concept “manipulability” has been proposed for representing this ability quantitatively from the viewpoint of kinematics. Specifically, we consider the set of all end-effector velocities under the condition that the magnitude of the joint velocity vector is not more than 1. Then this set turns out to be an ellipsoid. This set is called the manipulability ellipsoid and its volume is called the manipulability measure. The validity of these concepts for designing manipulators and avoiding singular configurations of redundant manipulators has been shown by various numerical examples. The concept of manipulability has clear physical meaning and can be formulated using the singular value decomposition of the Jacobian matrix. It also has a close relation with the singular configuration of manipulators. Hence this concept has been developed in various directions. For example, (1) developing control strategy and planning trajectory for singularity avoidance of redundant robot mechanisms, (2) manipulability analysis considering the dynamics of the manipulator (dynamic manipulability), and (3) performance evaluation index for designing master-slave systems.

Movies


Correspondence papers


Tsuneo Yoshikawa:Measure of Manipulability for Robot Manipulators

Journal of the Robotics Society of Japan, Vol. 2, No. 1, pp.63-67, 1984 (in Japanese).

Tsuneo Yoshikawa:Analysis and Control of Robot Manipulators with Redundancy

Robotics Research: The First International Symposium (M. Brady and R. Paul ed.), The MIT Press, Cambridge, MA, pp.735-757, 1984.

Tsuneo Yoshikawa:Manipulability of Robotic Mechanisms

The International Journal of Robotics Research, Vol.4, pp.3-9, 1985.

Related papers


[1] T.Yoshikawa: Dynamic Manipulability of Robot Manipulators, Journal of Robotic Systems, Vol.2, No.1, pp.113-124, 1985

[2] T. Yoshikawa, and S. Kiriyama: Four-Joint Redundant Wrist Mechanism and Its Control, ASME Journal of Dynamic Systems, Measurement, and Control, vol.111, pp.200-204, 1989

[3] T.Yoshikawa: Translational and Rotational Manipulability of Robotic Manipulators, Proc. of the 1990 American Control Conference, pp.228-233, 1990

[4] T.Yoshikawa: Foundations of Robotics, Analysis and Control, The MIT Press, Cambridge, Massachusetts, pp.227-240, 1990

[5] X.Z.Zheng, N.Tomochika, and T.Yoshikawa: Dynamic Manipulability of Multiple Robotic Mechanisms in Coordinated Manipulation, Proceedings of IFToMM-jc International Symposium on Theory of Machines and Mechanisms, pp.147-152, 1992

[6] Y.Yokokohji and T.Yoshikawa: Design Guide of Master Arms Considering Operator Dynamics, ASME Journal of Dynamic Systems, Measurement, and Control, Vol.115, pp.253-260, 1993

Related Article

記事はありません。