Analysis of the Acceleration Characteristics of Manipulators

  • A. Bowling
  • O. Khatib
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)


The study of the acceleration properties at the end effector is important in the analysis, design, and control of robot manipulators. In previous efforts aimed at addressing this problem, the end-effector acceleration has been treated as a vector combining both the linear and angular accelerations. The methodology presented in this article provides characterizations of these two different types of accelerations and describes the relationship between them. This work is an extension of our previous studies on manipulator inertial and acceleration properties. The treatment relies on the ellipsoid expansion model, a simple geometric approach to efficiently analyze end-effector accelerations. Results of the application of this analysis to the PUMA 560 manipulator are discussed.


Angular Acceleration Tangency Point Actuator Torque Acceleration Characteristic Diagonal Positive Definite Matrix 
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  1. [1]
    Yoshikawa T.; Dynamic Manipulability of Robot Manipulators, Proc. 1985 IEEE International Conference on Robotics and Automation, St. Louis, 1985, pp. 1033–1038.Google Scholar
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    Khatib, O. and Burdick, J.; Dynamic Optimization in Manipulator Design: The Operational Space Formulation, The International Journal of Robotics and Automation, vol. 2, no. 2, 1987, pp. 90–98.Google Scholar
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    Armstrong, B., Khatib, O., and Burdick, J.; The Explicit Model and Inertial Parameters of the PUMA 560 Arm, Proceedings IEEE Intl. Conference on Robotics and Automation, vol. 1, pp. 510–518, 1986.Google Scholar

Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • A. Bowling
    • 1
  • O. Khatib
    • 1
  1. 1.Stanford UniversityStanfordUSA

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