Abstract：A dual-arm robot can be appropriately viewed as a mechanical transformer with joint velocity and force as input and cartesian velocity and exerted force of the object as output. This paper presents the direction-oriented manipulability of dual-arm robots, and the velocity and force transmission characteristics under a given posture. The direction-oriented linear/rotation velocity and force/moment manipulability measures are defined. The applications of these indices as optimal performance criterion are explored, and illustrating examples are given out.
[1] Lee S. Dual Redundant Arm Configuration Optimization with Task-oriented Dual Arm Manipulability. IEEE Trans Robotics and Automation, 1989,5(1),78-97
[2] Chiacchio P, Chiaverini S, Sciavicco L, Siciliano D. Global Task Space Manipulability Ellipsoids for Multiple-Arm Systerns. IEEE Trans Robotics and Automation, 1991,7(5):678-685
[3] Yoshikawa T. Manipulability of Robotic Mechanisms. Int J Robotics Research, 19854(1):3-29
[4] Chiu S. Task Compatibility of Manipulator Postures. Int J Robotics Research, 1988,7(5):13-21
[5] Chen Guofeng et al. Direction-oriented Manipulability Measure of Dual-Arm Robot. 2nd Asian Conf on Robot and Its Applications, Beijing,1994
