Dynamic reconfiguration manipulability for redundant manipulators

Mamoru Minami, Xiang Li, Takayuki Matsuno, Akira Yanou

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shapechangeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task. DRM represents how much acceleration each intermediate link can generate and in what direction the acceleration can be realized based on normalized torque inputs. This concept will aid in the optimization of the design and control of robots. The appropriateness and usefulness of DRM were confirmed by applying it to redundant manipulators and comparing it with the known concept of avoidance manipulability.

Original languageEnglish
Article number061004
JournalJournal of Mechanisms and Robotics
Issue number6
Publication statusPublished - Dec 1 2016

ASJC Scopus subject areas

  • Mechanical Engineering


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