Paper Info
Title
Representing the robot's workspace through constrained manipulability analysis
Abstract
Quantifying the robot's performance in terms of dexterity and maneuverability is essential for the analysis and design of novel robot mechanisms and for the selection of appropriate robot configurations in the context of grasping and manipulation. It can also be used for monitoring and evaluating the current robot state and support planning and decision making tasks, such as grasp selection or inverse kinematics (IK) computation. To this end, we propose an extension to the well-known Yoshikawa manipulability ellipsoid measure Yoshikawa (Int J Robotics Res 4(2):3---9, 1985), which incorporates constraining factors, such as joint limits or the self-distance between manipulator and other parts of the robot. Based on this measure we show how an extended capability representation of the robot's workspace can be built in order to support online queries like grasp selection or inverse kinematics solving. In addition to single handed grasping tasks, we discuss how the approach can be extended to bimanual grasping tasks. The proposed approaches are evaluated in simulation and we show how the extended manipulability measure is used within the grasping and manipulation pipeline of the humanoid robot ARMAR-III.
Year
DOI
Venue
2015
10.1007/s10514-014-9394-z
Auton. Robots
Keywords
Field
DocType
Manipulability,Reachability,Redundant manipulators,Capability representation
Robot control,Computer vision,GRASP,Inverse kinematics,Workspace,Computer science,Simulation,Robot kinematics,Artificial intelligence,Robot,Robotics,Humanoid robot
Journal
Volume
Issue
ISSN
38
1
0929-5593
Citations 
PageRank 
References 
6
0.53
30
Authors
2
Name
Order
Citations
PageRank
Nikolaus Vahrenkamp121417.97
tamim asfour21889151.86