Dynamic loading criteria in actuator selection for desired dynamic performance

Advanced Robotics

Volumn 17, Issue 7, 2003, Pages 641-656

  Bowling, Alan ^a   Khatib, Oussama ^b  

^a UNIVERSITY OF NOTRE DAME   (United States)

^b STANFORD UNIVERSITY   (United States)

Author keywords

Actuator selection; Design; Dynamic loading; Dynamic performance; Dynamics

Indexed keywords

ACCELERATION CONTROL; ACTUATORS; CONTROL SYSTEM SYNTHESIS; DYNAMICS; END EFFECTORS; FORCE CONTROL; LINEAR CONTROL SYSTEMS; MANIPULATORS; STABILITY CRITERIA; TORQUE CONTROL;

ACTUATOR TORQUE; DYNAMIC CAPABILITY EQUATIONS; DYNAMIC LOADING CRITERIA;

ROBOTICS;

EID: 0141509013     PISSN: 01691864     EISSN: None     Source Type: Journal    
DOI: 10.1163/156855303769156992     Document Type: Article

References (19)

1. J. Vaidya, Motor selection for actuation systems, in: Proc. 22nd IEEE Combined Electrical/Electronic Insulation Conf. and Electrical Manufacturing and Coil Winding Conf. and Exhibition, Rosemont, IL, pp. 385-391 (1995).
2. T. Yoshikawa, Dynamic manipulability of robot manipulators, in: Proc. IEEE Int. Conf. on Robotics and Automation, St Louis, MO, pp. 1033-1038 (1985).
3. O. Khatib and J. Burdick, Optimization of dynamics in manipulator design: the operational space formulation, Int. J. Robotics Automat. 2 (2), 90-98 (1987).
4. T. J. Graettinger and B. H. Krogh, The acceleration radius: a global performance measure for robotic manipulators, IEEE J. Robotics Automat. 4 (1), 60-69 (1988).
5. L. T. Wang and B. Ravani, Dynamic load carrying capacity of mechanical manipulators-part i: problem formulation, J. Dyn. Syst. Meas. Control 110, 46-52 (1988).
6. Y. Kim and S. Desa, The definition, determination, and characterization of acceleration sets for spatial manipulators, Int. J. Robotics Res. 12 (6), 572-587 (1993).
7. H. Lipkin and J. Duffy, Hybrid twist and wrench control for a robotic manipulator, J. Mech. Transmissions Automat. Des. 110, 138-144 (1988).
8. J. Duffy, Editorial: the fallacy of modern hybrid control theory that is based on 'orthogonal complements' of twist and wrench spaces. J. Robotic Syst. 7 (2), 139-144 (1990).
9. K. L. Doty, C. Melchiorri, E. M. Schwartz and C. Bonivento, Robot manipulability, IEEE Trans. Robotics Automat. 11 (3), 462-468 (1995).
10. K. Kazerounian and J. Rastegar, Object norms: a class of coordinate and metric independent norms for displacements, Flexible Mech. Dyn. Anal. 47, 271-275 (1992).
11. A. Bowling and O. Khatib, The Dynamic Capability Hypersurface: A new tool for analyzing manipulator dynamic performance, IEEE Trans. Robotics Automat. (2003) (submitted).
12. A. Bowling and O. Khatib, The motion isotropy hypersurface: a characterization of acceleration capability, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Victoria, BC, Vol. 2, pp. 965-971 (1998).
13. A. Bowling and O. Khatib, Robot acceleration capability: the actuation efficiency measure, in: Proc. IEEE Conf. on Robotics and Automation, San Francisco, CA, Vol. 4, pp. 3970-3975 (2000).
14. B. Armstrong, O. Khatib and J. Burdick, The explicit model and inertial parameters of the puma 560 arm, in: Proc. IEEE Int. Conf. on Robotics and Automation, Vol. 1, pp. 510-518 (1986).
15. M. Thomas, H. C. Yuan-Chou and D. Tesar, Optimal actuator sizing for robotic manipulators based on local dynamic criteria, J. Mech. Transmissions Automat. Des. 107 (2), 163-169 (1985).
16. R. Kashani and B. Ravani, Optimal sizing of robot actuators based on dynamic load carrying capacity, in: Proc. 21st Biennial ASME Mechanisms Conf., Chicago, IL, Vol. 2, pp. 193-197 (1990).
17. S. Desa and Y.-Y. Kim, Application of acceleration set theory to manipulator design, in: Proc. 21st Biennial ASME Mechanisms Conf., Chicago, IL, pp. 221-228 (1990).
18. Z. Shiller and S. Sundar, Design of robotic manipulators for optimal dynamic performance, in: Proc. IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, pp. 344-349 (1991).
19. O. Khatib, Inertial properties in robotic manipulation: an object-level framework, Int. J. Robotics Res. 13 (1), 19-36 (1995).