Development of a dual hydraulic manipulators simulator and analysis of manipulability.

摘要

This thesis follows through the design and evaluation of a robotic simulator for 7 functions Magnum subsea dual arms.; The main purpose of this simulator is to train a robot operator. In order to take advantage of the capabilities offered by robots, operators must learn a completely new set of skills. These skills include understanding the robots condition by interpreting sensor data, adapting to the view provided by an operated robot, and recognizing the capabilities and limitations of the robot they are operating. To give operators understanding of the robots kinematics abilities, manipulability is employed in this thesis. When the operators use this simulator, they can see manipulability ellipsoids and measure, which indicate the ability of the robot arm from the viewpoints of kinematics. This thesis analyzes manipulability for the Magnum subsea dual arms as well. The analysis of manipulability can be used for optimal posture of the, manipulators in the workspace for performing a given task during training. (Abstract shortened by UMI.)