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| THE MANIPULABILITY OF ROBOTIC SYSTEMS AND RECONFIGURABLE TREE-TYPE ROBOTS |
| SONG Tao |
| Institute of Electrical Engineering, Academia Sinica 100080 |
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Abstract Based on the limit of the joint torques and end-effector forces for robots,a concept of manipulability is given.The paper studies the manipulability of single-robot and multi-robotic systems.Meanw hile reconfigurable tree-type robots whose structure can change with the tasks is studied.The effectiv eness of the reconfigur able robots is shown by simulations.
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Received: 31 March 1995
Published: 15 September 1996
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