Abstract
Directional manipulability measure is used to improve the performance index of dual arm manipulator, instead of general manipulability measure. In this paper, a performance index of dual arm manipulator has been proposed and manipulability measure is an important part of it. General manipulability measure evaluates for the ability of manipulator to act in either direction. But, for a given task, abilities in either direction are desired and this is called desired manipulability measure. Although the general manipulability measure probably is bigger than desired manipulability measure, only the intersection part of actual and desired manipulability ellipsoids applies to positively influence performance index of dual arm manipulator. Simulation results show the difference and efficiency of these manipulability measures.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Park, C., Park, K., Kim, D.: Design of dual arm robot manipulator for precision assembly of mechanical parts. In: International Conference on Smart Manufacturing Application, pp. 424–427 (April 2008)
Takahama, T., Nagatani, K., Tanaka, Y.: Motion planning for dual-arm mobile manipulator – realization of “tidying a room motion”. In: International Conference on Robotics and Automation, vol. 5, pp. 4338–4343 (April 2004)
Bayle, J., Fourquet, Y., Renaud, M.: Manipulability Analysis for Mobile Manipulators. In: ICRA 2001, Seoul, South Korea, pp. 1251–1256 (May 2001)
Nagatani, T., Hirayama, A., Gofuku, Y., Tanaka: Motion planning for Mobile Manipulator with keeping Manipulability. In: IROS 2002, Lausane, Switzerland, pp. 1663–1668 (October 2002)
Yoshikawa, T.: Analysis and control of Robot manipulators with redundancy. In: Brady, M., Paul, R. (eds.) Robotics Research: The First International Symposium, pp. 735–747. MIT Press (1984)
Yoshikawa, T.: Manipulability of Robotic Mechanisms. International Journal of Robotics Research 4(2), 3–9 (1985)
Yoshikawa, T.: Foundation of robotics: Analysis and control. The MIT Press (1990)
Lema, V.C.K., Laub, A.J.: The Singular Value Decomposition: Its Computation and Some Application. IEEE Transactions on Automatic Control (1980)
Lee, Y.I.: A Study on the Manipulability Measure of Robot Manipulators. Journal of Control, Automation and Systems Engineering 4(1) (February 1998)
Zhang, Q., Chen, A.: Kinematics and Task-Oriented Manipulability Measure for the Bionic Cricket Hopping Robot. In: Xiong, C.-H., Liu, H., Huang, Y., Xiong, Y.L. (eds.) ICIRA 2008, Part I. LNCS (LNAI), vol. 5314, pp. 342–351. Springer, Heidelberg (2008)
Lee, S.: Dual redundant arm configuration optimization with task-oriented dual arm manipulability. IEEE Transations on Robotics and Automation, 78–97 (February 1989)
Yao, J., Ding, X., Zhan, Q.: On task-based directional manipulability measure of redundant robot (2000)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Chen, H., Lee, SI., Do, JH., Lee, JM. (2013). Directional Manipulability to Improve Performance Index of Dual Arm Manipulator for Object Grasping. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_56
Download citation
DOI: https://doi.org/10.1007/978-3-642-33926-4_56
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33925-7
Online ISBN: 978-3-642-33926-4
eBook Packages: EngineeringEngineering (R0)