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JIRS
2010

A New Algorithm for Measuring and Optimizing the Manipulability Index

9 years 10 months ago
A New Algorithm for Measuring and Optimizing the Manipulability Index
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. Keywords Manipulability index · Dexterity · Robot manipulator
Ayssam Yehia Elkady, Mohammed Mohammed, Tarek Sobh
Added 28 Jan 2011
Updated 28 Jan 2011
Type Journal
Year 2010
Where JIRS
Authors Ayssam Yehia Elkady, Mohammed Mohammed, Tarek Sobh
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