Directional Manipulability to Improve Performance Index of Dual Arm Manipulator for Object Grasping
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.
Keywordsperformance index directional manipulability dual arm manipulator manipulability ellipsoid
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