Dynamic analysis of mobility and graspability of general manipulation systems
Dynamic analysis of mobility and graspability of general manipulation systems
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通用操纵系统的移动性和抓握性的动态分析
DOI：
10.1109/70.681243
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
A. Bicchi
中科院分区：
文献类型：
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作者：
D. Prattichizzo;A. Bicchi
我们提出了一个几何方法的动力学分析的操作系统的一个相当一般的类，包括一些重要类型的机械手，例如，协作、超关节和整臂机械手。重点是特别是简单的面向行业的设备，其中一个简约的设计方法需要一个清晰的理解的流动性和抓握性能的运动缺陷的存在。本文讨论了这些系统的动力学，并考虑了它们的结构特性（在经典系统理论意义上，即，稳定性、可控性、可观测性等）与机器人技术中常用的概念有关，如“冗余”、“可抓握性”、“移动性”和“不确定性”。不太常见或新颖的概念，如“缺陷性”，“超静态性”和“动态可抓握性”，是由这项研究引起和/或启发。因此，有缺陷的系统的有限控制可能性的一些重要的实际后果是显而易见的。最后，一般操作系统的动力学的标准形式提供了一个紧凑和可读的动态结构的概要。该形式是一个有价值的工具，为这样的系统，特别适合于几何控制设计方法的动态控制器合成。
We present a geometric approach to the dynamic analysis of manipulation systems of a rather general class, including some important types of manipulators as, e.g., cooperating, super-articulated, and whole-arm manipulators. The focus is in particular on simple industry-oriented devices, for which a minimalistic design approach requires a clear understanding of mobility and graspability properties in the presence of kinematic defectivity. The paper discusses the dynamics of these systems, and considers how their structural properties (in the classical system-theoretic sense, i.e., stability, controllability, observability, etc.) are related to frequently used concepts in robotics such as "redundancy", "graspability", "mobility", and "indeterminacy". Less common or novel concepts, such as those of "defectivity," "hyperstaticity," and "dynamic graspability", are elicited and/or enlightened by this study. Some important practical consequences of the limited control possibilities of defective systems are thus put into evidence. Finally, a standard form of the dynamics of general manipulation systems is provided as a compact and readable synopsis of the dynamic structure. The form is a valuable tool for synthesizing dynamic controllers for such systems, especially suited to geometric control design methods.
Hitoshi Maekawa、Fumihiko Nagai、Hiroshi Horibe、Shuji Nakata：日本机器人学会杂志。
DOI：
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