著者

岩月 正見 川又 政征 樋口 龍雄

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.23, no.2, pp.149-154, 1987-02-28 (Released:2009-03-27)

参考文献数

10

被引用文献数

1 1

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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.