Joint Torque-Velocity Pair Based Manipulability for Manipulators

Abstract

This paper provides a new approach of manipulability for robotic manipulators. While conventional manipulability is analysis in velocity domain and can not include force effect such as gravity of link and payload, the proposing approach can include the force effect. For the purpose, an operation range is introduced. The operation range is for actuator attached with every joint of manipulator and provides generable joint torque and velocity and their relation (between generating torque/velocity and addable velocity/torque). Using the operation range, we develop a new manipulability in velocity domain, including force effect.