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maniplty

Manipulability measure

Calling Sequence

M = maniplty(R, Q, OPTIONS)
[M,CI] = maniplty(R, Q, OPTIONS)

Parameters

R :

robot object

Q :

matrix or vector, joint configuration.

OPTIONS :

'key',value pair or 'key'

'T' :

manipulability for transational motion only (default)

'R' :

manipulability for rotational motion only

'all' :

manipulability for all motions

'dof',D :

D is a vector (1x6) with non-zero elements if the

'yoshikawa' :

use Yoshikawa algorithm (default)

'asada' :

use Asada algorithm

Description

M = maniplty(R, Q, OPTIONS) is the manipulability index measure for the robot at the joint configuration Q. It indicates dexterity, that is, how isotropic the robot's motion is with respect to the 6 degrees of Cartesian motion. The measure is high when the manipulator is capable of equal motion in all directions and low when the manipulator is close to a singularity.

If Q is a matrix (MxN) then M (Mx1) is a vector of manipulability indices for each pose specified by a row of Q.

[M,CI] = R.maniplty(R, Q, OPTIONS) as above, but for the case of the Asada measure returns the Cartesian inertia matrix CI.

Two measures can be selected:

Notes

Bibliography

[1] Analysis and control of robot manipulators with redundancy, T. Yoshikawa, Robotics Research: The First International Symposium (M. Brady and R. Paul, eds.), pp. 735-747, The MIT press, 1984.

[2] A geometrical representation of manipulator dynamics and its application to arm design, H. Asada, Journal of Dynamic Systems, Measurement, and Control, vol. 105, p. 131, 1983.

See also

Authors


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