Abstract
New expression of dynamic manipulability of multiple robotic mechanisms in coordinated manipulation (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 evaluation, of such systems. The method is effective for the evaluation on systems where the application of internal force and/or the static friction constraints at grasp points must be considered. Numerical examples are given to explain the idea and show their validity. The method is expected to be useful in designing and task planning ofMRMCM.
