運動学的冗長マニピュレータの動的可操作性多面体並進に関する実機検証

抄録

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.