Task-oriented dual-arm manipulability and its application to configuration optimizationA measure of static manipulability is derived for a dual-redundant-arm (DRA) system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm (DA) manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented DA manipulability measure is defined as the measure of geometrical similarity between the desired and the actual DA manipulability ellipsoids at the selected task points. Mathematical formulas are developed to define task-oriented DRA static manipulability, and their application to the optimization of DRA joint and grasp configurations is demonstrated.
Document ID
19890041302
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lee, Sukhan (University of Southern California Los Angeles, CA, United States)
Lee, Jang M. (Southern California, University Los Angeles, United States)