Dynamic Manipulability of Multiple Robotic Mechanisms in Coordinated Manipulation.

摘要

of multiple robotic mechanisms in coordinated manipu lation (MRMCM) is derived. The representation of dynamic manipulability polyhedron (DMPCM), which is formed by the object acceleration realized under the feasible joint driving force of robotic mechanisms, is formulated. The way of calculating its volume is given, and this volume is proposed to be adopted as the dynamic manipulability measure (DMMCM), the index on manipulability evalua tion, of such systems.