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article · Transactions of the Society of Instrument and Control Engineers · 1987

Performance Evaluation of Robot Arms from the Viewpoint of Controllability and Observability

Masami IWATSUKI, Masayuki Kawamata, Tatsuo Higuchi

Cited by 2Open access

Abstract

This paper proposes performance indeces of robot arms from a new viewpoint of the degrees of controllability and observability. The definitions of the controllability, observability and output-controllability Gramians of linear systems are given to show these degrees, and the physical meanings of these Gramians are explained. Using the products of the eigenvalues of these Gramians, the controllability, observability and output-controllability gains are proposed as the measures of performance evaluation of robot arms. Furthermore, it is shown that manipulability and dynamic manipulability can be obtained as the degrees of observability and output-controllability. As a numerical example, a two link arm is evaluated using the controllability, observability and output-controllability measures.

Cite this paper

APA 7

IWATSUKI, M., Kawamata, M., & Higuchi, T. (1987). Performance Evaluation of Robot Arms from the Viewpoint of Controllability and Observability. Transactions of the Society of Instrument and Control Engineers, 23(2), 149–154. https://doi.org/10.9746/sicetr1965.23.149

MLA 9

IWATSUKI, Masami, et al. “Performance Evaluation of Robot Arms from the Viewpoint of Controllability and Observability.” Transactions of the Society of Instrument and Control Engineers, vol. 23, no. 2, 1987, pp. 149–54, https://doi.org/10.9746/sicetr1965.23.149.

Chicago

IWATSUKI, Masami, Masayuki Kawamata, and Tatsuo Higuchi. 1987. “Performance Evaluation of Robot Arms from the Viewpoint of Controllability and Observability.” Transactions of the Society of Instrument and Control Engineers 23 (2): 149–54. https://doi.org/10.9746/sicetr1965.23.149.

Harvard

IWATSUKI, M., Kawamata, M. and Higuchi, T. (1987) ‘Performance Evaluation of Robot Arms from the Viewpoint of Controllability and Observability’, Transactions of the Society of Instrument and Control Engineers, 23(2), pp. 149–154. Available at: https://doi.org/10.9746/sicetr1965.23.149.

BibTeX
@article{iwatsuki1987performance,
  title = {{Performance Evaluation of Robot Arms from the Viewpoint of Controllability and Observability}},
  author = {IWATSUKI, Masami and Kawamata, Masayuki and Higuchi, Tatsuo},
  journal = {Transactions of the Society of Instrument and Control Engineers},
  volume = {23},
  number = {2},
  pages = {149--154},
  year = {1987},
  doi = {10.9746/sicetr1965.23.149}
}

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