By Topic

Reformulation of dynamic manipulability ellipsoid for robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Chiacchio, P. ; Dipartimento di Inf. e Sistemistica, Napoli Univ., Italy ; Chiaverini, S. ; Sciavicco, L. ; Siciliano, B.

A reformulation of the dynamic manipulability ellipsoid for robotic manipulators is established. This ellipsoid is a common tool in robotics for measuring the ability of a manipulator to produce arbitrary accelerations of the end effector for a given set of torques at the joints. As opposed to the original approach where gravitational forces were imputed to compress the volume of the ellipsoid, it is shown that the effect of gravity can be taken into account by translating the center of the ellipsoid without affecting its volume. The ellipsoid for redundant manipulators is characterized by investigating the properties of the manipulator Jacobian involved in the core of the ellipsoid. Numerical case studies are developed

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991