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ICRA
2007
IEEE

Effect of Gravity on Manipulation Performance of a Robotic Arm

13 years 10 months ago
Effect of Gravity on Manipulation Performance of a Robotic Arm
— The present paper introduces an evaluation of the manipulation performance of a robotic arm with respect to control accuracy and mechanical efficiency, taking into consideration the effects of gravity and the dynamic process between inputs and outputs in the robotic system. A measure based on the output controllability ellipsoid is proposed, which shows the relationship between the end-effector motion and the joint driving force. Computer simulations demonstrate the effects of gravity on the manipulation performance and the benefits of the proposed measure for the trajectory planning.
Tasuku Yamawaki, Masahito Yashima
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Tasuku Yamawaki, Masahito Yashima
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