A New Algorithm for Measuring and Optimizing the Manipulability Index

Mohammed, Mohammed; Elkady, Ayssam; Sobh, Tarek M.

doi:10.5772/6793

Cited by 8 publications

(7 citation statements)

References 6 publications

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“…14: end if First, the manipulability index [21], [22] µ[k] is calculated, and if it is smaller than the predefined limit µ s (the value used in the simulations is 0.05), i.e. the manipulator is close to a singular configuration, then the joint difference is calculated using the regularization technique, otherwise it is calculated the conventional way.…”

Section: Applicationsmentioning

confidence: 99%

Regularization of the differential inverse orientation problem of generic serial revolute joint manipulators

Drexler¹

2017

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)

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Orienting manipulators in robotics are used to achieve the desired orientation of the end effector of the manipulator. These manipulators are composed of rotational joints, and thus inherently burdened with singularities. In singular configurations, the differential inverse orientation problem can not be applied since the Jacobian becomes singular. A regularization method is discussed that regularizes the Jacobian in singular configurations, by first transforming the angle-axis representation of angular velocities to infinitezimal rotation about an axis and infinitezimal translation perpendicular to that axis, then regularizing the infinitezimal translational motion in the new representation. It is shown that the Jacobian of generic manipulators composed of three rotational joints is always regularizable, so methods based on the Jacobian can be applied even in singular configurations. The method is generalized to redundant orienting manipulators as well, and its application is demonstrated on two examples: a 3R Euler wrist and a 4R Hamilton wrist.

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Section: Applicationsmentioning

confidence: 99%

Regularization of the differential inverse orientation problem of generic serial revolute joint manipulators

Drexler¹

2017

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)

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“…They compared four measures to achieve the advantage and disadvantage of each for finding an optimal configuration [19]. Mohammed et al studied the manipulability index for every point using a new algorithm based on the way of condition number [6].…”

Section: Prior Workmentioning

confidence: 99%

“…Spatial loading has the following problems: first, the operation method differs from one loading to another, and it also differs for operational position and pose; second, the problem is how to install the loading appropriately in order to complete the task; last, according to the need of the loading task, the problem is how to distribute the loading properly in the test platform to maximize utilization of the platform. The attainable space of manipulator refers to all points that the manipulator end-effector can reach with all joints in their proper domain [5,6].…”

Section: Introductionmentioning

confidence: 99%

“…Numerical analysis is universal and does not become complicated with complexity of the manipulator. Analytical method is complicated and not universal related with nonlinear equations and inverse matrix of manipulator kinematics [6,9,10]. This paper applies numerical analysis to calculate space consisting of points, which is generated using the Monte Carlo method [11,12].…”

Section: Introductionmentioning

confidence: 99%

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Omnidirectional Analysis of Spatial Manipulator

Leng

Zhang

et al. 2015

Journal of Robotics

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Space manipulators are mainly used in the spatial loading task. According to problems of the spatial loading diversity, the testing loading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper proposes the Point Omnidirectional Coefficient (POC) with unit attitude sphere/circle to describe attitude of the end-effector, which evaluates any points in the attainable space of the manipulators, in combination with the manipulation’s position message, and get relationships between its position and attitude of all points in the attainable space. It represents the mapping between sphere surface and plane for mission attitude constraints and the method for calculating volume of points space including attainable space, Omnidirectional space, and mission attitude space. Furthermore, the Manipulator Omnidirectional Coefficient based on mission or not is proposed for evaluating manipulator performance. Through analysis and simulation about 3D and 2D manipulators, the results show that the above theoretical approach is feasible and the relationships about link lengths, joints angles, attainable space, and Manipulator Omnidirectional Coefficient are drawn for guiding design.

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“…In spite of the inherent general characteristics, the choice of a specific structural configuration and its dimensioning remains a complex problem, as it involves the specification of several design parameters and the consideration of different performance criteria [30]. Optimizing the design to suit a foreseen application remains, therefore, an active area of research.…”

Section: Introductionmentioning

confidence: 99%

Design of a Parallel Robotic Manipulator using Evolutionary Computing

Antonio

Solteiro

2012

Int J Adv Robotic Sy

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In this paper the kinematic design of a 6-dof parallel robotic manipulator is analysed. Firstly, the condition number of the inverse kinematic jacobian is considered as the objective function, measuring the manipulator's dexterity and a genetic algorithm is used to solve the optimization problem. In a second approach, a neural network model of the analytical objective function is developed and subsequently used as the objective function in the genetic algorithm optimization search process. It is shown that the neuro-genetic algorithm can find close to optimal solutions for maximum dexterity, significantly reducing the computational burden. The sensitivity of the condition number in the robot's workspace is analysed and used to guide the designer in choosing the best structural configuration. Finally, a global optimization problem is also addressed.

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A New Algorithm for Measuring and Optimizing the Manipulability Index

Cited by 8 publications

References 6 publications

Regularization of the differential inverse orientation problem of generic serial revolute joint manipulators

Regularization of the differential inverse orientation problem of generic serial revolute joint manipulators

Omnidirectional Analysis of Spatial Manipulator

Design of a Parallel Robotic Manipulator using Evolutionary Computing

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