Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
Dynamic manipulability ellipsoid is a measurement scale that represent group of tip accelerations limited by joint driven torques. The dynamic manipulability ellipsoid is translated by effects of gravity and joint velocities. Previously, we derived a translating vector that dynamic manipulability polytope is translated by motion velocity on an extended task space coupling with task space and internal motion space. In this time, we confirm translation of dynamic manipulability polytope by internal motion velocity using an actual planar 3-joints redundant manipulator.
