A New Algorithm for Measuring and Optimizing the Manipulability Index | Zendy

Mohammed Mohammed | Zendy; Ayssam Elkady | Zendy; Tarek Sobh | Zendy

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A New Algorithm for Measuring and Optimizing the Manipulability Index

Author(s) -

Mohammed Mohammed,

Ayssam Elkady,

Tarek Sobh

Publication year - 2009

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/6793

Subject(s) - workspace , computer science , manipulator (device) , control theory (sociology) , point (geometry) , robot manipulator , serial manipulator , robot , mobile manipulator , index (typography) , algorithm , control engineering , parallel manipulator , control (management) , artificial intelligence , mathematics , mobile robot , engineering , geometry , world wide web

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 article, 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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