Velocity-Dependent Dynamic Manipulability

Abstract—Measures of dynamic manipulability summarize a manipulator’s capacity to generate accelerations for arbitrary tasks, and such measures are useful tools for the design and control of generalpurpose robots. Existing measures, however, downplay the effects of velocity or else ignore them altogether. In this paper we derive the relationship between joint velocity and end-effector acceleration, and through case studies we demonstrate that velocity has a complex, non-negligible effect on manipulability. We also provide evidence that movement near a singularity is beneficial for certain tasks.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Michael T. Rosenstein, Roderic A. Grupen
• Keywords: Arbitrary Tasks, ICRA 2002, Manipulator’s Capacity, Robotics, Velocity