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Dynamic Manipulability for Cooperating Multiple Robot Systems with Frictional Contacts  

Byun Jae-Min (BK21 Mechatronics Group at Chungnam National University)
Lee Ji-Hong (BK21 Mechatronics Group at Chungnam National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.43, no.5, 2006 , pp. 10-18 More about this Journal
Abstract
We propose a new approach to compute possible acceleration boundary, so is called dynamic manipulability, for multiple robotic systems with frictional contacts between robot end-effectors and object. As the frictional contact condition which requires each contact force to lie within a friction cone is based on the nonlinear inequality formalism is not easy to handle the constraint in manipulability analysis. To include the frictional contact condition into the conventional manipulability analysis we approximate the friction cone to a pyramid which is described by linear inequality constraints. And then achievable acceleration boundaries of manipulated object are calculated conventional linear programming technique under constraints for torque capability of each robot and the approximated contact condition. With the proposed method we find some solution to which conventional approaches did not reach. Also, case studies are Presented to illustrate the correctness of the proposed approach for two robot systems of simple planar robots and PUMA560 robots.
Keywords
Manipulability; Multiple robots; Friction cone; Linear programming; Dynamic constraints;
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Times Cited By KSCI : 3  (Citation Analysis)
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