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1、DynamicPerformanceAnalysisforNon-RedundantRoboticManipulatorsinContactAlanBowlingChangHwanKimDept.ofAerospaceandMechanicalDept.ofAerospaceandMechanicalEngineering,UniversityofNotreDame,Engineering,UniversityofNotreDame,NotreDame,IN46556,USANotreDame,IN46556,USAAbstract—Thispaperpresentsanana
2、lysisofthedynamicacontactcon?guration.ThePUMA560manipulatorisperformanceofanon-redundantroboticmanipulatorwhileanalyzedasanexampleusingtheproposedmethodology.incontactwitha?xedenvironment,i.e.arigidwall.Thisworkextendsanearlierperformancecharacterization,theII.CONTACTCONSTRAINTSDynamicCapabi
3、lityHypersurface,whichdescribedamanip-A.LinearMotionsandForcesulator'sabilitytoaccelerateandapplyforcesattheend-effector,giventhelimitationsonthemanipulator'smotorThecontactforcesbetweentheend-effectorandthetorques.Theproposedextensionincludesananalysisofend-environmentconsistofanormalresist
4、anceforceandeffectormotionconstraintsandfrictionforcesandmomentstangentialfrictionforces.Sincetheend-effectorcannotassociatedwithenvironmentalcontact.Thisanalysisisap-pliedtoaPUMA560manipulator.penetrateintotheenvironment,andassumingthesurfacedoesnotmove,I.INTRODUCTIONdvnvn=0=v_n=0(1)dtStudi
5、esofdynamicperformanceusuallyfocusonamanipulator'sabilitytoaccelerateitsend-effector,[1],wherevnisthecompo-[2],[3],[4]forexample.However,therehasbeenanentoftheend-effectort2t1growinginterestinconsideringtherelationshipbetweenvelocityinthedirectionnend-effectoraccelerationsandforces/momentsap
6、pliedatnormaltothesurface,seetheend-effector.ThisinterestissparkedinpartbytheFig.1.Thenormalforce,needtoanalyzetasksrequiringend-effectormotionwhilethescalarfn,preventingapplyingacontactforce/moment,forinstancebuf?ngorpenetrationcanonlyhavesandingasurface.Inthiscaseofa?atsurface,theend-onedi
7、rectionsincetheeffectormustapplyanormalforcewhilealsoattemptingsurfacecannotpullonthetomoveindirectionsparalleltothesurface.Theabilityend-effector.Withrefer-tomanipulategraspedandnon-graspedobjectsisalsoencetoFig.1,determinedbytheaccelerationandfor
