THE MANIPULABILITY OF ROBOTIC SYSTEMS AND RECONFIGURABLE TREE-TYPE ROBOTS

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.