• Corpus ID: 11085041


  author={Eric M. Schwartz and Rachid Manseur and Keith L. Doty},
In certain areas of science and technology, physical quantities of difierent natures are combined in a variety of involved mathematical processes that obscure the interaction of these physical units and sometimes lead to unreliable results. Noncommensurate systems are those in which either the input vector or the output vector contains elements with difierent physical units. An example is the control of robot manipulators where position with units of distance and orientation with units of angle… 

Figures and Tables from this paper

Applying a Unit-Consistent Generalized Matrix Inverse for Stable Control of Robotic Systems
This paper shows that a recently introduced generalized matrix inverse permits performance consistency to be rigorously guaranteed in control systems that require solutions to underdetermined and/or overdetermined systems of equations.
A Generalized Matrix Inverse with Applications to Robotic Systems
This paper shows that a recently introduced generalized matrix inverse permits performance consistency to be rigorously guaranteed in control systems that require solutions to underdetermined and/or overdetermined systems of equations.
Exploiting Environment Contacts of Serial Manipulators
The effect of secondary contacts when applying forces with the end-effector of a robot is formalized in terms of required actuator efforts and efficiency bounds depending on the contact characteristics and robot configuration are derived.
Manipulator Performance Measures - A Comprehensive Literature Survey
The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures to study the performance and behavior of manipulators.
Task Location for High Performance Human-Robot Collaboration
An approach for the evaluation of human-robot collaboration towards high performance is introduced and implemented and the proposed task performance criterion is used based on the manipulability index of this chain.
Task-Oriented Evaluation of the Feasible Kinematic Directional Capabilities for Robot Machining
Performing the machining of complex surfaces can be a challenging task for a robot, especially in terms of collaborative robotics, where the available motion capabilities are greatly reduced in
Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms
It is believed that Gough and Whitehall (1962) first introduced parallel robots with an application in tire-testing equipments, followed by Stewart (1965) , who designed a parallel mechanism to be
Dexterity analysis for omni-directional wheeled mobile manipulator based on double quaternion
The unified analysis of omni-directional wheeled mobile manipulator(OWMM) through the dimensionally nonhomogeneous Jacobian matrix may lead to unreliable results. The existing researches focus on the


A Theory of Generalized Inverses Applied to Robotics
A general theory for consistent, gauge-invariant solutions to nonhomogeneous systems of the form u = Ax is developed and the dual relationship between rigid-body kinematics and statics is de fined formally as a particular, linear algebraic system whose solution system is also a dual system.
Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators
In this paper, we have proposed a number of measures for the quantification of dexterity of manipulators. The use of such measures is especially important for kinematically redundant manipulators
Hybrid position/force control of manipulators
A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.
On the invariance of the hybrid position/force control
In this paper, the conditions in which the Mason filtering technique fails are determined and, second, the situations where the Lipkin and Duffy approach cannot be applied owing to degeneracy of the twist and wrench spaces are reported.
A local measure of fault tolerance for kinematically redundant manipulators
This work examines the problem of determining the reduced manipulability of a manipulator after one or more joint failures and determines configurations that result in a minimal reduction of the manipULability index for any set of joint failures.
Robot manipulability
This paper demonstrates fundamental problems with dexterity measures found throughout the robotics literature and offers a methodology for correcting those problems and presents manipulability ellipsoids and manipULability screw-subspaces for both redundant and nonredundant manipulators.
Manipulability of cooperating robots with unactuated joints and closed-chain mechanisms
The differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints, are studied, extending previous results on cooperating robots without passive joints.
Compliance and Force Control for Computer Controlled Manipulators
  • M. T. Mason
  • Computer Science
    IEEE Transactions on Systems, Man, and Cybernetics
  • 1981
A theory of force control based on formal models of the manipulator and the task geometry is presented, isolating the programmer from the fundamental complexity of low-level manipulator control.
Advanced Robotics
The 16th International Conference on Advanced Robotics ICAR 2013, was held on November 2013 in Montevideo, Uruguay. The conference received a total of 234 submissions; from them 156 were accepted and
Global task space manipulability ellipsoids for multiple-arm systems
A suitable kinetostatic formulation for multiple cooperating arms is adopted that allows a global task space description of external and internal forces as well as absolute and relative velocities at the object level.