Motion analysis of free flying robots
Professor Kurazume conducted motion analysis of space manipulators under the supervision of Professor Kazuya Yoshida (currently at Tohoku University) while enrolled in the master's program at the Tokyo Institute of Technology.
| Free flying robot |
|---|
 |
Papers
- Kazuya Yoshida, R. Kurazume, Naoki Sashida, and Yoji Umetani, Modeling of Collision Dynamics for Space Free-Floating Links with Extended Generalized Inertia Tensor, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.1, pp. 899-904, (1992).
- Kazuya Yoshida, R. Kurazume, and Yoji Umetani, Dual Arm Coordination in Space Free-Flying Robot, Proc. IEEE Int. Conf. on Robotics and Automation, Vol. 1, pp. 2516--2521, (1991).
Impedance/Inertia matching for serial link manipulators
We propose a novel index for dynamic performance analysis of serial-link manipulators, called the Impedance/Inertia Matching Ellipsoid (IME). Various indices have been introduced to evaluate the static and dynamic performance of robot manipulators. For example, the Dynamic Manipulability Ellipsoid (DME) describes the distribution of hand accelerations resulting from unit-norm joint torques, while the Manipulating-Force Ellipsoid (MFE) represents the static torque-to-force transmission efficiency from joint actuators to the manipulator’s end-effector. In contrast, the proposed IME characterizes the dynamic torque-to-force transmission efficiency from the actuators to a load held by the manipulator’s hand. The IME unifies and generalizes several previously proposed performance measures. In fact, both the DME and MFE can be derived as limiting cases of the IME with respect to the load mass. We demonstrate the utility of the IME through numerical examples, including:
- optimal leg posture selection for jumping robots,
- optimal active stiffness control, and
- an extension for manipulators mounted on satellites in outer space.
 IME, DME, and MFE |
 Experiments using PA-10t |
Papers