抄録
Since the principle of momentum conservation holds in such an unconstrained robot as space robot, the relationship between the motion rate of manipulator hand and the angular velocity of manipulator joint is represented by the generalized Jacobian matrix. For under-water robots, unconstrained micromachines and so on, their momentums are not conservative because of the influence of the surrounding fluid and accordingly it was difficult to understand the basic characteristics for the nonconservative unconstrained robots.
By extending the concept of the impedance and the mobility of motion defined in the frequency range, the relationship between the motion rate of manipulator hand and the angular velocity of manipulator joint is derived in the frequency range for the nonconservative unconstrained robots subjected to viscous damping force. Since this relationship includes the previous generalized Jacobian matrix defined for the conservative unconstrained robots, in this study, it is defined as the dynamic generalized Jacobian matrix.
By applying the dynamic generalized Jacobian matrix to an unconstrained underwater robot representative of nonconservative unconstrained robots, its manipulatbility is considered. As a result, it is clarified that the manipulability of unconstrained underwater robot is not an ellipse and the manipulability measure is almost independent of the frequency of the manipulator joint input.
