A New Algorithm for Measuring and Optimizing the Manipulability Index
نویسندگان
چکیده
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.
منابع مشابه
Generation of Manipulability Ellipsoids for Different Configurations Using the Yoshikawa’s Manipulability Index and Manipulability Ellipsoid
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, m...
متن کاملA New Propulsion System for Microswimmer Robot and Optimizing Geometrical Parameters Using PSO Algorithm
Mini and micro robots, which can swim in an underwater environment, have drawn widespread research interests because of their potential applications to the clinical drug delivery, biotechnology, manufacturing, mobile sensor networks, etc. In this paper, a prototype of microrobot based on the motion principle of living microorganisms such as E. Coli Bacteria is presented. The properties of this ...
متن کاملA differential evolution algorithm to solve new green VRP model by optimizing fuel consumption considering traffic limitations for collection of expired products
The purpose of this research is to present a new mathematical modeling for a vehicle routing problem considering concurrently the criteria such as distance, weight, traffic considerations, time window limitation, and heterogeneous vehicles in the reverse logistics network for collection of expired products. In addition, we aim to present an efficient solution approach according to differential ...
متن کاملA hybrid GA-TLBO algorithm for optimizing a capacitated three-stage supply chain network
A teaching-learning-based optimization (TLBO) algorithm is a new population-based algorithm applied in some applications in the literature successfully. Moreover, a genetic algorithm (GA) is a popular tool employed widely in many disciplines of engineering. In this paper, a hybrid GA-TLBO algorithm is proposed for the capacitated three-stage supply chain network design (SCND) problem. The SCND ...
متن کاملOptimizing locomotive body structures using imperialist competitive algorithm
In today's design, system complexity and increasing demand for safer, more efficient and less costly systems have created new challenges in science and engineering. Locomotives are products which are designed according to market order and technical needs of customers. Accordingly, targets of companies, especially designers and manufacturers of locomotives, have always been on the path of progre...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Journal of Intelligent and Robotic Systems
دوره 59 شماره
صفحات -
تاریخ انتشار 2010