期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2009
卷号：6
期号：2
DOI：10.5772/6793
语种：English
出版社：SAGE Publications
摘要：The estimation of the performance characteristics of robot manipulators is crucial in robot application and design. Furthermore, studying the manipulability index for every point within the workspace of any serial manipulator is considered an important problem. Such studies are required for designing trajectories to avoid singular configurations. In this article, a new method for measuring the manipulability index is proposed, and then some simulations are performed on different industrial manipulators such as the Puma 560 manipulator, a six DOF manipulator and the Mitsubishi Movemaster manipulator.
关键词：manipulability index; dextrity and robot manipulator
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