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A New Algorithm for Measuring and Optimizing the Manipulability Index

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Abstract

The estimation of the performance characteristics of robot manipulators is crucial in robot application and design. Furthermore, studying the manipulability index for every point within the workspace of any serial manipulator is considered an important problem. Such studies are required for designing trajectories to avoid singular configurations. In this paper, a new method for measuring the manipulability index is proposed, and then some simulations are performed on different industrial manipulators such as the Puma 560 manipulator, a six DOF manipulator and the Mitsubishi Movemaster manipulator.

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Authors and Affiliations

  1. School of Engineering, University of Bridgeport, 221 University Avenue, Bridgeport, CT, 06604, USA

    Ayssam Yehia Elkady, Mohammed Mohammed & Tarek Sobh

Authors
  1. Ayssam Yehia Elkady
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  2. Mohammed Mohammed
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  3. Tarek Sobh
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Correspondence to Ayssam Yehia Elkady.

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Elkady, A.Y., Mohammed, M. & Sobh, T. A New Algorithm for Measuring and Optimizing the Manipulability Index. J Intell Robot Syst 59, 75–86 (2010). https://doi.org/10.1007/s10846-009-9388-9

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  • DOI: https://doi.org/10.1007/s10846-009-9388-9

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