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Proceedings Paper

Joint torque-velocity pair based manipulability for manipulators
Author(s): Tetsuyou Watanabe
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Paper Abstract

This paper provides a new approach of manipulability for robotic manipulators. While conventional manipulability 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 operation 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.

Paper Details

Date Published: 9 January 2008
PDF: 7 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679427 (9 January 2008); doi: 10.1117/12.784487
Show Author Affiliations
Tetsuyou Watanabe, Kanazawa Univ. (Japan)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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