The power manipulability – A new homogeneous performance index of robot manipulators

Mansouri, Imed; Ouali, Mohammed

doi:10.1016/j.rcim.2010.09.004

Cited by 56 publications

(45 citation statements)

References 18 publications

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“…It also can be interpreted as a measure of manipulator capability for transmitting a certain velocity to its end-effector (Mansouri & Ouali, 2011). To have a better performance for a manipulator, It is more suitable to have isotropic manipulability ellipsoid (Angeles & Lopez-Cajun, 1992).…”

Section: Manipulabilitymentioning

confidence: 99%

Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms

Abedinnasab¹,

Yoon²,

Zohoor³

2012

Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization

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Section: Manipulabilitymentioning

confidence: 99%

Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms

Abedinnasab¹,

Yoon²,

Zohoor³

2012

Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization

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“…the power manipulability, Which is fully homogeneous and constitutes a physically consistent system.This method has been applied for a 2-dof serial manipulator and a 3-dof parallel planar mechanism. Xiaojun Zhu [9] considered the manipulability measure of a multi-arm space robot. The manipulability measure of one arm can be influenced by the base and alternate arms, which effectsly affects the design optimization, the singularity shirking and the consistent control.…”

Section: Introductionmentioning

confidence: 99%

manipulability and stiffness index of 6 ups manipulator

2017

IJMTER

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Abstract-The performance evaluation is one of most important issues in the analysis and design of parallel manipulators. Characteristics such as manipulability and minimum singular value are used to determine the performance of the manipulators. The performance indices are used to eliminate the singularity and it"s near configurations. In this paper 6-UPS spatial parallel manipulator is considered and its performance indices such as condition number, manipulability and minimum singular value are determined for different structures. Based on the performance indices, the optimum configuration of the manipulator is determined. A MATLAB code is developed and used for the analysis. The results are graphically presented.

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“…The acceleration radius was generalized in [35] to overcome the inhomogeneity problem in mixed manipulability optimizations of rotations and translations [36]. More recently, the power manipulability ellipsoid was proposed as a method for dealing with inhomogeneity [37]. This measure was extended in [38] to the convex hull-based power manipulability index, allowing for analysis with respect to the power polytope, which is the n-dimensional polygon that represents the ability of a manipulator to generate power in an arbitrary direction.…”

Section: Introductionmentioning

confidence: 99%

Mass and Friction Optimization for Natural Motion in Hands-On Robotic Surgery

2016

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Abstract-In hands-on robotic surgery, the surgical tool is mounted on the end effector of a robot and is directly manipulated by the surgeon. This simultaneously exploits the strengths of both humans and robots; such that the surgeon directly feels tool-tissue interactions and remains in control of the procedure, while taking advantage of the robot's higher precision and accuracy. A crucial challenge in hands-on robotics for delicate manipulation tasks, such as surgery, is that the user must interact with the dynamics of the robot at the end effector, which can reduce dexterity and increase fatigue. This paper presents a null-space based optimization technique for simultaneously minimizing the mass and friction of the robot that is experienced by the surgeon. By defining a novel optimization technique for minimizing the projection of the joint friction onto the end effector, and integrating this with our previous techniques for minimizing the belted mass/inertia as perceived by the hand, a significant reduction in dynamics felt by the user is achieved. Experimental analyses in both simulation and human user trials demonstrate that the presented method can reduce the user experienced dynamic mass and friction by, on average, 44% and 41% respectively. The results presented robustly demonstrate that optimizing a robots pose can result in a more natural tool motion, potentially allowing future surgical robots to operate with increased usability, improved surgical outcomes and wider clinical uptake.

show abstract

The power manipulability – A new homogeneous performance index of robot manipulators

Cited by 56 publications

References 18 publications

Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms

Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms

manipulability and stiffness index of 6 ups manipulator

Mass and Friction Optimization for Natural Motion in Hands-On Robotic Surgery

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