Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)
- 2003.07c
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- Pages.2717-2720
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- 2003
Acceleration ellipsoid of two cooperating robots with the limits of joint torques
동역학이 고려된 두 대 로봇의 가속도 타원 해석
Abstract
A mathematical framework for deriving acceleration bounds from given joint torque limits of two cooperating robots are described in this paper. Especially when the torque limits are given in 2-norm, the resultant geometrical configuration is ellipsoid(the ellipsoid is often called manipulability ellipsoid in many works). At first, the mathematical derivation starts from the dynamics of both object and robots as well as the kinematics of the robots, and is finally arranged in a form of equation relating joint torques to object acceleration through a complete constraint contact(or “very-soft contact”). To show the usefulness of the proposed method, two examples are included, and especially the case where friction effects the ellipsoid shape is also considered In the example.
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