Motion planning based on multiple kinematic performance measures for bimanual robotic tasks

2007 ◽  
Author(s):  
Myun Joong Hwang ◽  
Nam Soo Park ◽  
Doo Yong Lee
Keyword(s):  
Motion Planning ◽  
Performance Measures ◽  
Kinematic Performance ◽  
Robotic Tasks

The Effects of Actuation Schemes on the Kinematic Performance of Manipulators

1997 ◽  
Vol 119 (2) ◽  
pp. 212-217 ◽  
Author(s):  
R. Matone ◽  
B. Roth
Keyword(s):  
Performance Measures ◽  
Condition Number ◽  
Jacobian Matrix ◽  
Kinematic Model ◽  
Joint Space ◽  
Singular Value ◽  
End Effector ◽  
Kinematic Performance ◽  
Actuation Scheme ◽  
Space Description

This paper is concerned with the effects of actuation schemes on three measures of kinematic performance which depend upon a manipulator’s Jacobian matrix (namely, the minimum singular value, the manipulability, and the condition number). We begin by presenting a simple framework on how to incorporate actuator location and drive mechanisms in the kinematic model. Then, we redefine the performance measures using the new model. For each measure we derive properties relating its joint space to its actuator space description. Next we demonstrate that the choice of actuation scheme influences the size, shape, and direction of the velocity ellipsoid of the end-effector. Finally, we employ the above concepts in the design of a 2R planar mechanical arm. Its transmission ratios and drive mechanisms are selected in order to obtain good kinematic characteristics. We show that the choice of actuation scheme can be used to improve kinematic performance.

Motion planning under uncertainty for robotic tasks with long time horizons

2010 ◽  
Vol 30 (3) ◽  
pp. 308-323 ◽  
Author(s):  
Hanna Kurniawati ◽  
Yanzhu Du ◽  
David Hsu ◽  
Wee Sun Lee
Keyword(s):  
Motion Planning ◽  
Planning Under Uncertainty ◽  
Time Horizons ◽  
Long Time ◽  
Robotic Tasks

The Effects of Actuation Schemes on the Kinematic Performance of Manipulators

1996 ◽  
Author(s):  
Ricardo Matone ◽  
Bernard Roth
Keyword(s):  
Performance Measures ◽  
Condition Number ◽  
Jacobian Matrix ◽  
Kinematic Model ◽  
Joint Space ◽  
Singular Value ◽  
End Effector ◽  
Kinematic Performance ◽  
Actuation Scheme ◽  
Space Description

Abstract This paper is concerned with the effects of actuation schemes on three measures of kinematic performance which depend upon a manipulator’s Jacobian matrix (namely, the minimum singular value, the manipulability, and the condition number.) We begin by presenting a simple framework on how to incorporate actuator location and drive mechanisms in the kinematic model. Then, we redefine the performance measures using the new model. For each measure we derive properties relating its joint space to its actuator space description. Next we demonstrate that the choice of actuation scheme influences the size, shape, and direction of the velocity ellipsoid of the end-effector. Finally, we employ the above concepts in the design of a 2R planar mechanical arm. Its transmission ratios and drive mechanisms are selected in order to obtain good kinematic characteristics. We show that the choice of actuation scheme can be used to improve kinematic performance.

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