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Real-Time Robot Capability Analysis

[+] Author Affiliations
Chalongrath Pholsiri, Chetan Kapoor, Delbert Tesar

University of Texas at Austin, Austin, TX

Paper No. DETC2005-84353, pp. 973-982; 10 pages
doi:10.1115/DETC2005-84353
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

Robot Capability Analysis (RCA) is a process in which force/motion capabilities of a manipulator are evaluated. It is very useful in both the design and operational phases of robotics. Traditionally, ellipsoids and polytopes are used to both graphically and numerically represent these capabilities. Ellipsoids are computationally efficient but tend to underestimate while polytopes are accurate but computationally intensive. This article proposes a new approach to RCA called the Vector Expansion (VE) method. The VE method offers accurate estimates of robot capabilities in real time and therefore is very suitable in applications like task-based decision making or online path planning. In addition, this method can provide information about the joint that is limiting a robot capability at a given time, thus giving an insight as to how to improve the performance of the robot. This method is then used to estimate capabilities of 4-DOF planar robots and the results discussed and compared with the conventional ellipsoid method. The proposed method is also successfully applied to the 7-DOF Mitsubishi PA10-7C robot.

Copyright © 2005 by ASME
Topics: Robots

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