Reconfiguration manipulability theory and analyses for redundant manipulator

Tongxiao Zhang, Shunzu Cheng, M. Minami, O. Yasukura, Wei Song, Xijin Guo

Research output: Contribution to journalArticlepeer-review


The concept of reconfiguration manipulability and reconfiguration manipulability ellipsoid inspired from manipulability and manipulability ellipsoid is presented. The manipulability represents the velocity ability of each link of redundant manipulator when its shape is given. The reconfiguration manipulability represents a shape-changeability of each intermediate link when a prior end-effector task is given. The end-effector is used to execute the given task such as trajectory tracking, so it has no reconfiguration manipulability. Then, manipulability ellipsoid and reconfiguration manipulability ellipsoid are compared and analysed. By the analysis of trajectory tracking and obstacle avoidance of 7-link manipulator in 2D space, and by comparing and analysing the change of reconfiguration manipulability ellipsoids of 7-link manipulator in 3D space when its shape is changed. The proposed theory of reconfiguration manipulability ellipsoid has important and practical meanings for evaluating and designing the redundant manipulator's structures and configuration.

Original languageEnglish
Pages (from-to)38-48
Number of pages11
JournalJixie Gongcheng Xuebao/Journal of Mechanical Engineering
Issue number19
Publication statusPublished - Oct 5 2011


  • Reconfiguration manipulability
  • Reconfiguration manipulability ellipsoid
  • Redundant manipulator

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Applied Mathematics


Dive into the research topics of 'Reconfiguration manipulability theory and analyses for redundant manipulator'. Together they form a unique fingerprint.

Cite this