2001 Volume 67 Issue 663 Pages 3548-3553
Some manipulation tasks have a direction of end-effector acceleration of a manipulator and directions for which dynamic accuracy is required in the motion. This paper presents a new index (DAIT : Dynamic Accuracy Index for Task-directions) that allows us to evaluate the dynamic accuracy of manipulators considering the task-directions. First, the DAIT is derived. Second, the geometrical relationship of the DAIT to the dynamic manipulability ellipsoid is represented. Third, a manipulation performance of a planar 2-DOF manipulator for a task is evaluated on the basis of some indices that have been proposed and the DAIT. Finally, from these evaluation results, it is shown that the DAIT is useful to evaluate the dynamic accuracy of manipulators for the task-directions.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
