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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)
Date Acquired
August 14, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Meeting Information
Meeting: IEEE Conference on Decision and Control
Location: Austin, TX
Country: United States
Start Date: December 7, 1988
End Date: December 9, 1988
Accession Number
89A28673
Funding Number(s)
CONTRACT_GRANT: NAS7-918
Distribution Limits
Public
Copyright
Other

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