Reconfiguration Manipulability Analyses for Redundant Robots in View of Strucuture and Shape

Mamoru Minami; Tongxiao Zhang; Fujia Yu; Yusaku Nakamura; Osami Yasukura; Wei Song; Akira Yanou; Mingcong Deng

doi:10.14864/softscis.2010.0.971.0

SCIS & ISIS 2010

Session ID : SA-A1-5

DOI https://doi.org/10.14864/softscis.2010.0.971.0

Conference information

Reconfiguration Manipulability Analyses for Redundant Robots in View of Strucuture and Shape

Mamoru Minami, Tongxiao Zhang, *Fujia Yu, Yusaku Nakamura, Osami Yasukura, Wei Song, Akira Yanou, Mingcong Deng

Author information

Keywords: Reconfiguration Manipulability, Shape-changeability, Redundant Robot

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

This paper is concerned with a concept of reconfiguration manipulability inspired from manipulability. The reconfiguration manipulability represents a shape-changeability of each intermediate link when a prior end-effector task is given. Taking reconfiguration manipulability into consideration, we analyze the redundant robots in view of its structure and shape by simulations.

Corresponding author

Register with J-STAGE for free!