Dynamic reconfiguration manipulability for redundant manipulators

Abstract

In this research, a new concept named Dynamic Reconfiguration Manipulability (DRM) is proposed, which gauges dynamical shape-changeability by using a redundancy of the robot on the premise that a primary task be given at hand. The DRM represents simultaneously how much acceleration each intermediate link can be generated and what direction the acceleration be realizable by normalized torque inputs, helping optimize designing and controlling of robots. Appropriateness and usefulness of the DRM have been confirmed by applying it to redundant manipulators and by comparing the DRM with known concept of Avoidance Manipulability.