A new algorithm for measuring and optimizing the manipulability index

International Journal of Advanced Robotic Systems

Volumn 6, Issue 2, 2009, Pages 145-150

  Mohammed, Mohammed ^a   Elkady, Ayssam ^a   Sobh, Tarek ^a  

^a University of Bridgeport   (United States)

Author keywords

And robot manipulator; Dextrity; Manipulability index

Indexed keywords

FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MACHINE DESIGN; MODULAR ROBOTS; ROBOT APPLICATIONS;

DESIGNING TRAJECTORIES; DEXTRITY; MANIPULABILITY INDICES; MITSUBISHI; PERFORMANCE CHARACTERISTICS; ROBOT MANIPULATOR; SERIAL MANIPULATORS; SINGULAR CONFIGURATIONS;

INDUSTRIAL MANIPULATORS;

EID: 70849098529     PISSN: 17298806     EISSN: 17298814     Source Type: Journal    
DOI: 10.5772/6793     Document Type: Article

References (7)

1. Klein, C. & Blaho, B. (1987). Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators. The International Journal of Robotics Research, Vol. 6, No. 2, 72-83.
2. Salisbury, J. and Craig, J. (1982). Articulated Hands. Force Control and Kinematic Issues. The International Journal of Robotics Research, Vol.1, No. 1, 4-17. (Pubitemid 13510801)
3. Yoshikawa, T. (1985). Manipulability of Robotic Mechanisms. The International Journal of Robotics Research, Vol. 4, No. 2, 3-9.
4. Gosselin, C. (1990). Dexterity indices for planar and spatial robotic manipulators. Robotics and Automation Proceedings International Conference, vol.1,, 13-18 May 1990 Page(s):650 - 655.
5. Tanev, T. and Stoyanov, B. (2000). On the Performance Indexes for Robot Manipulators. Problems of engineering cybernetics and robotics.
6. Doel, K. and Pai, D. (1996). Performance Measures for Robot Manipulators: A Unified Approach. The International Journal of Robotics Research, Vol. 15, No. 1, 92-111.
7. Corke, P. (2002) Robotic toolbox.