{"title":"面向任务的双臂可操作性及其在构型优化中的应用","authors":"Sukhan Lee, J. Lee","doi":"10.1109/CDC.1988.194736","DOIUrl":null,"url":null,"abstract":"The authors deal with a measure of static manipulability for a dual-redundant-arm system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented dual-arm manipulability measure is defined as the measure of geometrical similarity between the desired and the actual dual-arm manipulability ellipsoids at the selected task points. The authors present mathematical formulas defining task-oriented dual redundant arm static manipulability and its application to the optimization of dual-redundant-arm joint as well as grasp configurations. Simulation results are shown.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"83 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"24","resultStr":"{\"title\":\"Task-oriented dual-arm manipulability and its application to configuration optimization\",\"authors\":\"Sukhan Lee, J. Lee\",\"doi\":\"10.1109/CDC.1988.194736\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The authors deal with a measure of static manipulability for a dual-redundant-arm system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented dual-arm manipulability measure is defined as the measure of geometrical similarity between the desired and the actual dual-arm manipulability ellipsoids at the selected task points. The authors present mathematical formulas defining task-oriented dual redundant arm static manipulability and its application to the optimization of dual-redundant-arm joint as well as grasp configurations. Simulation results are shown.<<ETX>>\",\"PeriodicalId\":113534,\"journal\":{\"name\":\"Proceedings of the 27th IEEE Conference on Decision and Control\",\"volume\":\"83 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-12-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"24\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 27th IEEE Conference on Decision and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CDC.1988.194736\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 27th IEEE Conference on Decision and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.1988.194736","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Task-oriented dual-arm manipulability and its application to configuration optimization
The authors deal with a measure of static manipulability for a dual-redundant-arm system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented dual-arm manipulability measure is defined as the measure of geometrical similarity between the desired and the actual dual-arm manipulability ellipsoids at the selected task points. The authors present mathematical formulas defining task-oriented dual redundant arm static manipulability and its application to the optimization of dual-redundant-arm joint as well as grasp configurations. Simulation results are shown.<>
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