DIRECTION-ORIENTED MANIPULABILITY MEASURES OF DUAL-ARM ROBOTS
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摘要: 机器人位姿的方向可操作性是指在当前位姿状态下末端执行器沿指定方向的传速性能和传力性能．本文提出了双臂机器人沿给定方向的广义速度和广义力的可操作性概念，定义了双臂机器人在给定方向上的线速度/角速度可操作性测度、力/力矩可操作性测度．文章最后给出了具体的分析与应用实例．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.
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Keywords:
- Dual-arm robot /
- velocity manipulability /
- force manipulability
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[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
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