On-line force capability evaluation based on efficient polytope vertex search
Antun Skuric Vincent Padois David Daney Antun Skuric Vincent Padois David Daney
Ellipsoid-based manipulability measures are often used to characterize the force/velocity task-space capabilities of robots. While computationally simple, this approach largely approximate and underestimate the true capabilities. Force/velocity polytopes appear to be a more appropriate representation to characterize the robot’s task-space capabilities. However, due to the computational complexity ...