Affordable Access

Access to the full text

A New Algorithm for Measuring and Optimizing the Manipulability Index

Authors
  • Elkady, Ayssam Yehia1
  • Mohammed, Mohammed1
  • Sobh, Tarek1
  • 1 University of Bridgeport, School of Engineering, 221 University Avenue, Bridgeport, CT, 06604, USA , Bridgeport (United States)
Type
Published Article
Journal
Journal of Intelligent & Robotic Systems
Publisher
Springer-Verlag
Publication Date
Nov 07, 2009
Volume
59
Issue
1
Pages
75–86
Identifiers
DOI: 10.1007/s10846-009-9388-9
Source
Springer Nature
Keywords
License
Yellow

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.

Report this publication

Statistics

Seen <100 times