Manipulability of robotic mechanisms
01 Jun 1985-The International Journal of Robotics Research (SAGE Publications)-Vol. 4, Iss: 2, pp 3-9
TL;DR: In this article, a measure of manipulability of robotic mechanisms in positioning and orienting end-effectors has been proposed and the best postures of various types of manipulators are given, and a four degree-of-freedom finger is considered from the viewpoint of the measure.
Abstract: This paper discusses the manipulating ability of robotic mechanisms in positioning and orienting end-effectors and proposes a measure of manipulability. Some properties of this measure are obtained, the best postures of various types of manipulators are given, and a four-degree-of-freedom finger is considered from the viewpoint of the measure. The pos tures somewhat resemble those of human arms and fingers.
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Book•
01 Jan 2006TL;DR: In this paper, the Jacobian is used to describe the relationship between rigid motions and homogeneous transformations, and a linear algebraic approach is proposed for vision-based control of dynamical systems.
Abstract: Preface. 1. Introduction. 2. Rigid Motions and Homogeneous Transformations. 3. Forward and Inverse Kinematics. 4. Velocity Kinematics-The Jacobian. 5. Path and Trajectory Planning. 6. Independent Joint Control. 7. Dynamics. 8. Multivariable Control. 9. Force Control. 10. Geometric Nonlinear Control. 11. Computer Vision. 12. Vision-Based Control. Appendix A: Trigonometry. Appendix B: Linear Algebra. Appendix C: Dynamical Systems. Appendix D: Lyapunov Stability. Index.
3,100 citations
Cites background from "Manipulability of robotic mechanism..."
...The manipulability measure, as defined by Yoshikawa [78], is given by μ = σ1σ2 · · ·σm (4....
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...The motion perceptibility measure, wv, has the following properties, which are direct analogs of properties derived by Yoshikawa for manipulability [78]....
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Book•
20 May 2005
TL;DR: In this paper, the mathematical underpinnings of robot motion are discussed and a text that makes the low-level details of implementation to high-level algorithmic concepts is presented.
Abstract: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
1,811 citations
01 Jan 1985
TL;DR: Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined, and a whiplash action develops over time that thrusts the endpoint off the intended path, and extremely high torques are required to overcome these natural movement dynamics.
Abstract: Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the effect of redundancy resolution on joint torque can be directly reflected. One method chooses the joint acceleration null-space vector to minimize joint torque in a least squares sense; when the least squares is weighted by allowable torque range, the joint torques tend to be kept within their limits. Contrasting methods employing only the pseudoinverse with and without weighting by the inertia matrix are presented. The results show an unexpected stability problem during long trajectories for the null-space methods and for the inertia-weighted pseudoinverse method, but more seldom for the unweighted pseudoinverse method. Evidently, a whiplash action develops over time that thrusts the endpoint off the intended path, and extremely high torques are required to overcome these natural movement dynamics.
744 citations
TL;DR: This article presents a survey of the existing computational algorithms meant for achieving four important properties in autonomous multifingered robotic hands, collectively referred to in this article as robot grasp synthesis algorithms.
Abstract: This article presents a survey of the existing computational algorithms meant for achieving four important properties in autonomous multifingered robotic hands. The four properties are: dexterity, equilibrium, stability, and dynamic behavior The multifingered robotic hands must be controlled so as to possess these properties and hence be able to autonomously perform complex tasks in a way similar to human hands.Existing algorithms to achieve dexterity primarily involve solving an unconstrained linear programming problem where an objective function can be chosen to represent one or more of the currently known dexterity measures. Algorithms to achieve equilibrium also constitute solving a linear program ming problem wherein the positivity, friction, and joint torque constraints of all fingers are accounted for while optimizing the internal grasping forces. Stability algorithms aim at achiev ing positive definite grasp impedance matrices by solving for the required fingertip impedances. This problem reduces ...
671 citations
25 Mar 1985
TL;DR: It is argued that because this technique may be expected to lift closed end effector paths to closed joint angle paths, it provides a promising approach for the control of kinematically redundant industrial manipulators.
Abstract: In the growing literature on redundant manipulator control, a number of techniques have been proposed for solving the inverse kinemetics problem. Some of these techniques are surveyed with a discussion of strengths and weaknesses of each. A new approach, called the extended Jacobian technique, is also presented. It is argued that because this technique may be expected to lift closed end effector paths to closed joint angle paths, it provides a promising approach for the control of kinematically redundant industrial manipulators. It is further shown that this technique may be implemented as a suitably parameterized generalized inverse method.
629 citations
Cites background from "Manipulability of robotic mechanism..."
...joint angle configuration at which Je is singular but where aflae ( 8 ,) has fall rank....
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References
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TL;DR: This work provides a tutorial introduction to certain numerical computations both in linear algebra and linear systems in the context of bounded arithmetic and the singular value decomposition (SVD).
Abstract: We provide a tutorial introduction to certain numerical computations both in linear algebra and linear systems in the context of bounded arithmetic. The essential characteristics of bounded arithmetic are discussed in an introductory section followed by a review of the fundamental concepts of numerical stability and conditioning. The singular value decomposition (SVD) is then presented along with some related comments on the numerical determination of rank. A variety of applications of the SVD in linear algebra and linear systems is then outlined. A final section discusses some details of the implementation of the SVD on a digital computer. An Appendix is provided which contains a number of useful illustrative example.
1,448 citations
TL;DR: Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems.
Abstract: Kinematic and control issues are discussed in the context of an articulated, multifinger mechanical hand. Hand designs with particular mobility properties are illustrated, and a definition of accuracy points within manipulator workspace is given. Optimization of tlte physical dimensions of the Stanford-JPL hand is described. Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems. Preliminary results are shown for the joint torque subsystem used in the hand controller.
1,436 citations
TL;DR: In this article, the Stanford-JPL hand is described and several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems.
Abstract: Kinematic and control issues are discussed in the context of an articulated, multifinger mechanical hand. Hand designs with particular mobility properties are illustrated, and a definition of accuracy points within manipulator workspace is given. Optimization of tlte physical dimensions of the Stanford-JPL hand is described. Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems. Preliminary results are shown for the joint torque subsystem used in the hand controller.
737 citations
Proceedings Article•
01 Jan 1983
659 citations
251 citations
"Manipulability of robotic mechanism..." refers background in this paper
...Determination of the mechanism and size of a robot manipulator at the design stage and determination of the posture of the manipulator in the workspace (Gupta and Roth 1982) for performing a given task at the operation stage have been done largely on the basis of experience and intuition....
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