Velocity-Dependent Dynamic Manipulability

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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.
Michael T. Rosenstein, Roderic A. Grupen
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Michael T. Rosenstein, Roderic A. Grupen
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