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.
Similar content being viewed by others
References
Klein, C.A., Blaho, B.E.: Dexterity measures for the design and control of kinematically redundant manipulators. Int. J. Rob. Res. 6(2), 72–83 (1987)
Salisbury, J.K., Craig, J.J.: Articulated hands. Force control and kinematic issues. Int. J. Rob. Res. 1(1), 4–17 (1982)
Yoshikawa, T.: Manipulability of robotic mechanisms. Int. J. Rob. Res. 4(2), 3–9 (1985)
Gosselin, C.M.: Dexterity indices for planar and spatial robotic manipulators. In: Robotics and Automation Proceedings. International Conference on Volume, Issue, vol. 1, pp. 650–655 (1990), 13–18 May 1990
van den Doel, K., Pai, D.K.: Performance measures for robot manipulators: a unified approach. Int. J. Rob. Res. 15(1), 92–111 (1996)
Gotlih, K., Troch, I.: Base invariance of the manipulability index, vol. 22, Issue 4, pp. 455–462, ISSN:0263-5747. Cambridge University Press New York, NY, USA (2004)
Lee, J.: A study on the manipulability measures for robot manipulators. Intelligent Robots and Systems 3(7–11), 1458–1465 (1997)
Sobh, T.M., Toundykov, D.Y.: Optimizing the tasks at hand. IEEE Robot. Autom. Mag. 11(2), 78–85 (2004)
Tanev, T., Stoyanov, B.: On the Performance Indexes for Robot Manipulators. Problems of Engineering Cybernetics and Robotics (2000)
Corke, P.I.: Robotic toolbox (2002)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Elkady, A.Y., Mohammed, M. & Sobh, T. A New Algorithm for Measuring and Optimizing the Manipulability Index. J Intell Robot Syst 59, 75–86 (2010). https://doi.org/10.1007/s10846-009-9388-9
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-009-9388-9