The kinetostatic capability analysis of robotic manipulators

摘要

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.