|Table of Contents|

Velocity Directional Manipulability Measures of Dual Armed Robot


Research Field:
Publishing date:


Velocity Directional Manipulability Measures of Dual Armed Robot
CHEN An-jun 1 XU Pei-xia 1LI Guo-liang 2
1.School of Mechanical Engineering, Southern Yangtze University,Wuxi 214122, China; 2. Network and Information Center , Xinyang Normal University,Xinyang 464000, China
dual armed robots manipulability ellipsoid directional manipulability measures opt imization methods
For the dual armed robot , the velocity t ransmission characteristics w ere discussed. On the basis of the manipulability ellipsoid and the direct ional manipulability measure of single armed mechanism velocity , the directional manipulability measures of linear velocity and rotat ion velocity of dual armed mechanism w ere defined and the velocity transmission characterist ics w ere measured in a special direction under a desig nated posture. T aking the manipulability measure of direct ion as the funct ion of target , the optimizat ion methods of opt imal direction of transmission velocity and opt imal manipulat ive conf ig urat ion w ere g iven. The result s show that the velocity t ransmission property of dual armed mechanism is w eak, but it is smoother than that of the single armed mechanism in different direct ions.


[ 1] Lee S. Dual r edundant arm co nfiguration optimization with task- oriented dual arm manipulability [ J ] . IEEE Trans Robotics and Automation, 1989, 5( 1) : 78- 97.
[ 2] Klein C A , Blaho B E. Dexterity measures for the design and control o f kinematically redundant manipulators[ J] . Inter J of Robotics Research, 1987, 6( 2) : 72- 83.
[ 3] 蒋新松. 机器人学导论[ M] . 沈阳: 辽宁科学技术出版社, 1994.
[ 4] Chiacchio P, Chiaverini S, Sciavicco L. Global task space manipulability ellipso ids for multiple- arm systems [ J ] . IEEE Trans Robotics and Automat ion, 1991, 7( 5) : 678 - 685.
[ 5] 陈安军. 一种双臂机器人协调运动在线逆动力学算法 [ J] . 机械科学与技术, 2002, 21( 4) : 579- 581.
[ 6] 陈安军. 双臂机器人协调运动的运动学关系[ J] . 机器人, 1998, 20( 增) : 359- 363.


Last Update: 2013-05-23