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Task space dynamic analysis for multi-arm robot usingisotropic velocity and acceleration radii

Published online by Cambridge University Press:  01 May 1997

Choong-Young Kim  and
Yong-San Yoon
Choong-Young Kim
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-dong, Yusung-Gu, Taejon, 305-701, Korea
Yong-San Yoon
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-dong, Yusung-Gu, Taejon, 305-701, Korea
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Abstract

Isotropic velocity radius (IVR) and isotropic accelerationradius (IVR) are proposed as local performance indices to quantify thedynamic responsiveness of a multi-arm robot as regards the velocity effects.These performance measures are defined on the basis of the acceleration setdescribing the effects of actuator torques, velocity of the manipulated object,and gravity upon the acceleration of the object. An algorithm is presented toobtain an explicit expression for calculating these measures by decomposing thetorque-related non-square matrix into square matrices without using the conceptof pseudo-inverse for the planar multi-arm robot composed of arms each with twojoints.

Numerical examples for a planar robot with two 2R arms show thatthe proposed concepts are effective in representing the acceleration capabilityand velocity effects of a multi-arm robot.

Keywords

Task spaceformulationMulti-arm robotAcceleration setIsotropic acceleration radiusIsotropic velocity radius
Type
Research Article
Information
Robotica , Volume 15 , Issue 3 , May 1997 , pp. 319 - 329
Copyright
© 1997 Cambridge University Press

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