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Joint torque-velocity pair based manipulability for manipulators

Identifieur interne : 001504 ( Main/Curation ); précédent : 001503; suivant : 001505

Joint torque-velocity pair based manipulability for manipulators

Auteurs : Tetsuyou Watanabe [Japon]

Source :

RBID : Pascal:09-0122315

Descripteurs français

English descriptors

Abstract

This paper provides a new approach of manipulability for robotic manipulators. While conventional manipu lability is analysis in velocity domain and can not include force effect such as gravity of link and payload, the proposing approach can include the force effect. For the purpose, an operation range is introduced. The opera tion range is for actuator attached with every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and addable velocity/torque). Using the operation range, we develop a new manipulability in velocity domain, including force effect.

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Pascal:09-0122315

Le document en format XML

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<s1>Graduate School of Natural Science & Technology, Kanazawa University</s1>
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<term>Actuators</term>
<term>Added mass</term>
<term>Feasibility</term>
<term>Gravity</term>
<term>Joints</term>
<term>Manipulation</term>
<term>Manipulators</term>
<term>Robotics</term>
<term>Robots</term>
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<term>Actionneur</term>
<term>Assemblage mécanique</term>
<term>Faisabilité</term>
<term>Manipulation</term>
<term>Manipulateur</term>
<term>Robotique</term>
<term>Gravité</term>
<term>Masse ajoutée</term>
<term>Robot</term>
<term>0130C</term>
<term>0707D</term>
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<div type="abstract" xml:lang="en">This paper provides a new approach of manipulability for robotic manipulators. While conventional manipu lability is analysis in velocity domain and can not include force effect such as gravity of link and payload, the proposing approach can include the force effect. For the purpose, an operation range is introduced. The opera tion range is for actuator attached with every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and addable velocity/torque). Using the operation range, we develop a new manipulability in velocity domain, including force effect.</div>
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