Dynamic Reconfiguration Manipulability for Redundant Manipulators

Abstract

In this research, a new concept named Dynamic Reconfiguration Manipulability (DRM) is proposed, gauging dynamical shape-changeability by using redundancy while a hand task is given primarily. Helping optimize designing and controlling robots, the DRM represents simultaneously how much acceleration each intermediate link can be generated and what direction the acceleration can be realized by normalized torque inputs. We have confirmed appropriateness and usefulness of the DRM by applying it to redundant manipulator PA10 produced by Mitsubishi Heavy Industries Ltd.