Kinetostatic capability analysis of robotic manipulators

Han S. Kim, Yong J. Choi

Research output: Contribution to conferencePaper

8 Citations (Scopus)

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 languageEnglish
Pages1241-1246
Number of pages6
Publication statusPublished - 1999
Event1999 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 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

All Science Journal Classification (ASJC) codes

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

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  • Cite this

    Kim, H. S., & Choi, Y. J. (1999). 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, .