Manipulability analysis of two-arm robotic systems

Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13407

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Authors

Ferreira, N. M. Fonseca

Tenreiro Machado, J. A.

Abstract(s)

Many tasks involving manipulation require cooperation between robots. Meanwhile, it is necessary to determinate the adequate values for the robot parametrs to obtain a good performance. This paper discusses several aspects related with the manipulability of two co-operative roborts when handling objects with different lenghts and orientations. In this line of thought, a numerical tool is developed for the calculation and the graphical visualizations of the manipulability measure.