A New Algorithm for Measuring and Optimizing the Manipulability Index
Loading...
Authors
Sobh, Tarek M.
Elkady, Ayssam Y.
Mohammed, Mohammed
Issue Date
2009-11-01
Type
Article
Language
en_US
Keywords
Manipulability index , Robot manipulator , Computer science , Instruments and machines , Algorithm
Alternative Title
Abstract
The estimation of the performance characteristics of robot manipulators is crucial in robot application and design. Furthermore, studying the manipulability index for every point within the workspace of any serial manipulator is considered an important problem. Such studies are required for designing trajectories to avoid singular configurations. In this article, a new method for measuring the manipulability index is proposed, and then some simulations are performed on different industrial manipulators such as the Puma 560 manipulator, a six DOF manipulator and the Mitsubishi Movemaster manipulator.
Description
Citation
Publisher
InTech