Kinematic manipulability of general constrained rigid multibody systems

Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples.

[1]  Masaru Uchiyama.  Structures and characteristics of parallel manipulators , 1993, Adv. Robotics.

[2]  John T. Wen,et al.  Kinematic manipulability of general constrained rigid multibody systems , 1999, IEEE Trans. Robotics Autom..

[3]  D. Stewart,et al.  A platform with 6 degrees of freedom , 1966 .

[4]  Frank Chongwoo Park,et al.  Manipulability and singularity analysis of multiple robot systems: a geometric approach , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[5]  D. Pratt.  Manipulability of Cooperating Robots with Passive Joints , 1998 .

[6]  Arthur C. Sanderson,et al.  Tetrobot: A Modular Approach to Reconfigurable Parallel Robotics , 1997 .

[7]  Charles A. Klein,et al.  Optimal force distribution for the legs of a walking machine with friction cone constraints , 1990, IEEE Trans. Robotics Autom..

[8]  Reymond Clavel,et al.  The Delta Parallel Robot , 1999 .

[9]  Jean-Pierre Merlet,et al.  Parallel manipulators: state of the art and perspectives , 1992, Adv. Robotics.

[10]  Bruno Siciliano,et al.  Comments on "Global task space manipulability ellipsoids for multiple-arm systems' and further considerations' (with reply) P. Chiacchio, et al , 1993, IEEE Trans. Robotics Autom..

[11]  Bruno Siciliano,et al.  Global task space manipulability ellipsoids for multiple-arm systems , 1991, IEEE Trans. Robotics Autom..

[12]  F. Park,et al.  Manipulability of Closed Kinematic Chains , 1998 .

[13]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[14]  Lorenzo Sciavicco,et al.  Reply to ‘Comments on “Global task space manipulability ellipsoids for multiple-arm systems” and further considerations’ , 1993 .

[15]  Antonio Bicchi,et al.  Manipulability Measures of Cooperating Arms , 1993, 1993 American Control Conference.

[16]  Masaru Uchiyama,et al.  Symmetric Kinematic Formulation and Non-Master/Slave Coordinated Control of Two Arm Robots , 1989 .

[17]  Antonio Bicchi,et al.  On the mobility and manipulability of general multiple limb robots , 1995, IEEE Trans. Robotics Autom..

[18]  Sukhan Lee,et al.  Dual redundant arm configuration optimization with task-oriented dual arm manipulability , 1989, IEEE Trans. Robotics Autom..

[19]  Vijay R. Kumar,et al.  Force distribution in closed kinematic chains , 1988, IEEE J. Robotics Autom..

[20]  Meyer Nahon,et al.  A comparison of methods for the control of redundantly-actuated robotic systems , 1995, J. Intell. Robotic Syst..