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Research Papers

Reconfiguration Manipulability Analyses for Redundant Robots

[+] Author and Article Information
Tongxiao Zhang

College of Information and
Electrical Engineering,
China University of Mining and Technology,
Jiangsu, Xuzhou 221116, China
e-mail: cheshenztx@126.com

Mamoru Minami

Graduate School of Natural
Science and Technology,
Okayama University 3-1-1 Tsushimanaka,
Okayama 7008530, Japan
e-mail: minami@sys.okayama-u.ac.jp

Osami Yasukura

Graduate School of Engineering,
University of Fukui,
Fukui 9108507, Japan
e-mail: yasukura@apphy.u-fukui.ac.jp

Wei Song

School of Mechatronics
Engineering and Automation,
Shanghai University,
149 Yanchang Road,
Shanghai 200072, China
e-mail: song_wei@shu.edu.cn

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received June 25, 2010; final manuscript received November 2, 2011; published online July 16, 2013. Assoc. Editor: Federico Thomas.

J. Mechanisms Robotics 5(4), 041001 (Jul 16, 2013) (16 pages) Paper No: JMR-10-1085; doi: 10.1115/1.4024727 History: Received June 25, 2010; Revised November 02, 2011

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. Through analyses of reconfiguration matrices, we propose a method to judge whether the plural shape-changing subtasks can be executed simultaneously or not. Then the sufficient conditions guaranteeing sustainability of reconfiguration manipulability space are presented, which are the conditions for keeping the reconfiguration manipulability as high as possible under the prior end-effector task. Further, we confirm the proposed analyses can be useful practically for evaluating the realistic manipulator's configurations and structures.

Copyright © 2013 by ASME
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References

Figures

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Fig. 1

Manipulability ellipsoids and reconfiguration manipulability ellipsoids

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Fig. 2

Obstacle avoidance of intermediate links

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Fig. 3

Flow chart of judgment of reconfiguration possibility

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Fig. 5

Shape 1 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.3m,l7 = 0.1m)

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Fig. 6

Shape 2 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg, q2 = -120 deg, q3 = 0 deg, q4 =  deg,q5 = 0 deg,q6 = -120 deg,q7 = 120 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.315m, l3 = 0.135m, l4 = 0.261m, l5 = 0.239m, l6 = 0.3m,l7 = 0.1m)

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Fig. 7

Shape 3 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 =-40 deg,q3 = 0 deg,q4 = 40 deg,q5 = 0 deg,q6 = -40 deg,q7 = 40 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.3m,l7 = 0.1m)

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Fig. 8

Shape 4 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.3m,l7 = 0.3m)

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Fig. 9

Shape 5 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.3m,l7 = 0.05m)

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Fig. 10

Shape 6 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.5m,l7 = 0.1m)

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Fig. 11

Shape 7 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.1m,l7 = 0.1m)

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Fig. 12

Shape 8 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.561m,l5 = 0.239m,l6 = 0.3m,l7 = 0.1m)

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Fig. 13

Shape 9 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90deg; l0 = 0.2m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m, l4 = 0.161m, l5 = 0.239m, l6 = 0.3m,l7 = 0.1m)

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Fig. 14

Shape 10 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.615m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.3m,l7 = 0.1m)

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Fig. 15

Shape 11 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.115m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.3m,l7 = 0.1m)

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Fig. 16

Shape 12 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.5m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.3m,l7 = 0.1m)

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Fig. 17

Shape 13 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg,q6 = -90 deg,q7 = 90 deg;l0 = 0.1m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.3m,l7 = 0.1m)

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Fig. 18

Shape 14 of PA11 and reconfiguration manipulability ellipsoids (q1 = 0 deg,q2 = -90 deg,q3 = 0 deg,q4 = 90 deg,q5 = 0 deg, q6 = -90 deg, q7 = 0 deg;l0 = 0.2m,l1 = 0.115m,l2 = 0.315m,l3 = 0.135m,l4 = 0.261m,l5 = 0.239m,l6 = 0.3m,l7 = 0.1m)

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Fig. 19

Structure descriptions of two assumptions in two-dimensional space

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Fig. 20

4-link manipulator in two-dimensional space

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Fig. 21

Manipulability ellipsoids

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Fig. 22

Reconfiguration manipulability ellipsoids

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Fig. 23

Manipulability ellipsoid of the second link

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Fig. 24

Reconfiguration manipulability ellipsoid of the second link

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Fig. 25

Manipulability measure/reconfiguration manipulability measure

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Fig. 26

Stoppage operation process 1

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Fig. 27

Stoppage operation process 2

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Fig. 28

Humanoid robot with visual servoing system

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