Generation of Manipulability Ellipsoids for Different Configurations Using the Yoshikawa's Manipulability Index and Manipulability Ellipsoid

摘要

In this paper, we study different manipulating ways which can be used in Robotic Devices, to make the Robots Responsive to Obstacles while performing a given Task. Differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints and actuators are given efforts and researched for developing enhancive Robots. Therefore, manipulability analysis is done to check the performance of the robots. It has been shown that the ZMP manipulability ellipsoid can improve the humanoid-robot design process by choosing appropriate actuators. Algorithm to calculate the manipulability index results new manipulability indices which take into account under actuation and compliance.