Dexterity of manipulators with limit-driven characteristics of motors

摘要

Dexterity is an important issue for design, trajectory planning, and control of manipulators. In this study, we introduced a new dexterity measure for manipulators' manipulation. The measure is to evaluate how efficient a manipulator is, while the limit driven characteristics of its actuator (DC motor) is including into consideration. The possible maximum velocity and force of the required task were derived in subjection of the heat limit of DC motors, and two examples were shown in this study.