Inertial properties in robotic manipulation: an object-level framework
International Journal of Robotics Research
Robot Dynamics and Control
Inverse Dynamic Modeling of Two Unsymmetrical 3UPU Parallel Manipulators
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
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Tools that make it possible to measure the performances of manipulators are essential in many technical applications, for instance, when the optimal path to accomplish a task has to be chosen, or when different manipulator architectures have to be compared. This paper proposes some indices that fully describe the passive dynamic performances of manipulators with two degrees of freedom (dof). The pro- posed indices make it possible to compare the passive dynamic performances of different manipulator architectures, which can perform the same tasks, and can be used to build diagrams which highlight the effects of variations in the manipulator geometry on the manipulator dynamics. These features make them easy to be used in a design context. Finally, some applications of the proposed indices will be presented and discussed.