A New Algorithm for Measuring and Optimizing the Manipulability Index |
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Authors: | Ayssam Yehia Elkady Mohammed Mohammed Tarek Sobh |
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Affiliation: | (1) University of Bridgeport, Bridgeport, CT 06604, USA |
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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 paper, 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. |
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Keywords: | |
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