### Abstract

This paper presents the analytical methods to evaluate the forward/inverse kinetostatic capabilities of robotic manipulators. The eigenvalue problems corresponding to the forward and inverse kinetostatic capability analyses have been formulated. The forward kinetostatic capability analysis is to determine the magnitude bounds of the force and moment (linear and angular velocity) vectors generated at the end-effector for the given magnitude of actuating forces (velocities). Conversely, the inverse analysis is to find the magnitude bound of actuating forces (velocities) for the given magnitudes of the force and moment (linear and angular velocity) vectors at the end-effector. The inverse analysis is important since it can provide a designer with valuable information about how to choose the actuators. It has been shown that the eigenvalues from the forward and inverse analyses have a reciprocal relation with each other, which implies that solving either of the eigenvalue problems may complete the forward/inverse kinetostatic capability analyses. It has been also presented that the proposed kinetostatic capability analysis can be extended to redundant manipulators.

Original language | English |
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Pages | 1241-1246 |

Number of pages | 6 |

Publication status | Published - 1999 Dec 1 |

Event | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 1999 Oct 17 → 1999 Oct 21 |

### Other

Other | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
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City | Kyongju, South Korea |

Period | 99/10/17 → 99/10/21 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications

### Cite this

*Kinetostatic capability analysis of robotic manipulators*. 1241-1246. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .

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**Kinetostatic capability analysis of robotic manipulators.** / Kim, Han S.; Choi, Yong Je.

Research output: Contribution to conference › Paper

TY - CONF

T1 - Kinetostatic capability analysis of robotic manipulators

AU - Kim, Han S.

AU - Choi, Yong Je

PY - 1999/12/1

Y1 - 1999/12/1

N2 - This paper presents the analytical methods to evaluate the forward/inverse kinetostatic capabilities of robotic manipulators. The eigenvalue problems corresponding to the forward and inverse kinetostatic capability analyses have been formulated. The forward kinetostatic capability analysis is to determine the magnitude bounds of the force and moment (linear and angular velocity) vectors generated at the end-effector for the given magnitude of actuating forces (velocities). Conversely, the inverse analysis is to find the magnitude bound of actuating forces (velocities) for the given magnitudes of the force and moment (linear and angular velocity) vectors at the end-effector. The inverse analysis is important since it can provide a designer with valuable information about how to choose the actuators. It has been shown that the eigenvalues from the forward and inverse analyses have a reciprocal relation with each other, which implies that solving either of the eigenvalue problems may complete the forward/inverse kinetostatic capability analyses. It has been also presented that the proposed kinetostatic capability analysis can be extended to redundant manipulators.

AB - This paper presents the analytical methods to evaluate the forward/inverse kinetostatic capabilities of robotic manipulators. The eigenvalue problems corresponding to the forward and inverse kinetostatic capability analyses have been formulated. The forward kinetostatic capability analysis is to determine the magnitude bounds of the force and moment (linear and angular velocity) vectors generated at the end-effector for the given magnitude of actuating forces (velocities). Conversely, the inverse analysis is to find the magnitude bound of actuating forces (velocities) for the given magnitudes of the force and moment (linear and angular velocity) vectors at the end-effector. The inverse analysis is important since it can provide a designer with valuable information about how to choose the actuators. It has been shown that the eigenvalues from the forward and inverse analyses have a reciprocal relation with each other, which implies that solving either of the eigenvalue problems may complete the forward/inverse kinetostatic capability analyses. It has been also presented that the proposed kinetostatic capability analysis can be extended to redundant manipulators.

UR - http://www.scopus.com/inward/record.url?scp=0033332779&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033332779&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0033332779

SP - 1241

EP - 1246

ER -