{"title":"加速度半径:机器人操纵器的全局性能度量","authors":"T. Graettinger, B. Krogh","doi":"10.1109/56.772","DOIUrl":null,"url":null,"abstract":"The acceleration radius is defined as a global index for quantifying the dynamic capabilities of manipulator-positioning systems over a continuous operation region. It is generalization of previously proposed manipulability indices that are local measures of the acceleration capability. The problem of computing the acceleration radius is formulated as an optimization problem. A numerical algorithm for solving the resulting generalized semi-infinite program is presented, and the application of the acceleration radius concept to examples of manipulator design and workspace specification is illustrated. Several directions for future research are discussed. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"104 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"165","resultStr":"{\"title\":\"The acceleration radius: a global performance measure for robotic manipulators\",\"authors\":\"T. Graettinger, B. Krogh\",\"doi\":\"10.1109/56.772\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The acceleration radius is defined as a global index for quantifying the dynamic capabilities of manipulator-positioning systems over a continuous operation region. It is generalization of previously proposed manipulability indices that are local measures of the acceleration capability. The problem of computing the acceleration radius is formulated as an optimization problem. A numerical algorithm for solving the resulting generalized semi-infinite program is presented, and the application of the acceleration radius concept to examples of manipulator design and workspace specification is illustrated. Several directions for future research are discussed. >\",\"PeriodicalId\":370047,\"journal\":{\"name\":\"IEEE J. Robotics Autom.\",\"volume\":\"104 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-02-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"165\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE J. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/56.772\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/56.772","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The acceleration radius: a global performance measure for robotic manipulators
The acceleration radius is defined as a global index for quantifying the dynamic capabilities of manipulator-positioning systems over a continuous operation region. It is generalization of previously proposed manipulability indices that are local measures of the acceleration capability. The problem of computing the acceleration radius is formulated as an optimization problem. A numerical algorithm for solving the resulting generalized semi-infinite program is presented, and the application of the acceleration radius concept to examples of manipulator design and workspace specification is illustrated. Several directions for future research are discussed. >
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