Manipulability of cooperating robots with unactuated joints and closed-chain mechanisms

被引：81

作者：

Bicchi, A ^{[1
]}

Prattichizzo, D

机构：

[1] Univ Pisa, Ctr Interdipartimentale Ric Enrico Piaggio, I-56100 Pisa, Italy

[2] Univ Siena, Dipartimento Ingn Informaz, I-53100 Siena, Italy

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2000年 / 16卷 / 04期

关键词：

closed-chain mechanisms; cooperating robots; dextrous manipulation; kinematic and force manipulability; parallel robots;

D O I：

10.1109/70.864226

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we study the differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints. The kinematic manipulability indices are derived extending previous results on cooperating robots without passive joints. The force manipulability analysis for cooperative robot systems cannot be straightforwardly derived by "duality" arguments as it can with conventional arms, rather a distinction between active and passive force manipulability must be introduced. Results in this paper apply directly to the analysis of cooperating robots, parallel robots, dextrous robotic hands and legged vehicles, and, in general, to closed kinematic chains.

引用

页码：336 / 345

页数：10

共 18 条

[1]

Bicchi A, 1998, IEEE INT CONF ROBOT, P1038, DOI 10.1109/ROBOT.1998.677226

[2] ON THE MOBILITY AND MANIPULATABILITY OF GENERAL MULTIPLE LIMB ROBOTS [J].

BICCHI, A ;

MELCHIORRI, C ;

BALLUCHI, D .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1995, 11 (02) :215-228

[3]

Bicchi A., 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 (Cat. No.97CH36108), P1479, DOI 10.1109/IROS.1997.656554

[4] ON THE CLOSURE-PROPERTIES OF ROBOTIC GRASPING [J].

BICCHI, A .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1995, 14 (04) :319-334

[5] GLOBAL TASK SPACE MANIPULATABILITY ELLIPSOIDS FOR MULTIPLE-ARM SYSTEMS [J].

CHIACCHIO, P ;

CHIAVERINI, S ;

SCIAVICCO, L ;

SICILIANO, B .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1991, 7 (05) :678-685

[6]

Golub G. H., 2013, Matrix Computations

[7]

Hunt K.H., 1978, KINEMATIC GEOMETRY M

[8] DUAL REDUNDANT ARM CONFIGURATION OPTIMIZATION WITH TASK-ORIENTED DUAL ARM MANIPULABILITY [J].

LEE, S .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (01) :78-97

[9] GRASPING AND COORDINATED MANIPULATION BY A MULTIFINGERED ROBOT HAND [J].

LI, ZX ;

HSU, P ;

SASTRY, S .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1989, 8 (04) :33-50

[10] Multiple whole-limb manipulation: An analysis in the force domain [J].

Melchiorri, C .

ROBOTICS AND AUTONOMOUS SYSTEMS, 1997, 20 (01) :15-38

← 1 2 →