The dynamic capability equations: A new tool for analyzing robotic manipulator performance

  • Bowling A
  • Khatib O
  • 65


    Mendeley users who have this article in their library.
  • 57


    Citations of this article.


Dynamic capability equations (DCE) provide a new description of robot acceleration and force capabilities. These refer to a manipulator's ability to accelerate its end-effector and to apply forces to the environment at the end-effector. The key features in the development of these equations are that they combine the analysis of end-effector accelerations, velocities, and forces, while addressing the difference in units between translational and rotational quantities. The equations describe the magnitudes of translational and rotational acceleration and force guaranteed to be achievable in every direction, from a particular configuration, given the limitations on the manipulator's motor torques. They also describe the effect of velocities on these capabilities contributed by the Coriolis and centrifugal forces, as well as the reduction of actuator torque capacity due to motor speed. This article focuses on nonredundant manipulators with as many actuators as degrees of freedom.

Author-supplied keywords

  • Acceleration
  • Dynamic performance
  • Dynamics
  • End-effector
  • Force
  • Manipulator
  • Robotics

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • Alan Bowling

  • Oussama Khatib

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free