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Manipulability Index Optimization for a Planar Robotic Arm
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2012 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

It is of interest to have high manipulability in robotic manipulators in order to achieve

high performance. In this report, a model of a robotic arm manipulator is de ned and

analyzed with focus on optimizing the manipulability. The kinematics for the robotic ma-

nipulator is used to de ne quantitative measures of manipulability,

manipulability indices

.

Analytical results for dierent manipulability indices are derived. It is shown that a common

feature of the indices is that they are independent of the rst angle of the robotic arm. Using

numerical optimization, the

manipulability measure

is optimized under dierent constraints.

The manipulability measure is also used when de ning a path for the robotic arm manip-

ulator with high manipulability. The path is described by polynomials in the

joint space

.

Numerical optimization of the path is done for several examples. It is concluded that the

indices give dierent measures of manipulability and are therefore suitable for dierent prob-

lems. It is also shown that the manipulability can be optimized when dierent constraints

are imposed and that an optimal radius for the end-eector exists. Lastly, it is concluded

that a short path with high manipulability is possible to obtain using the proposed method.

Place, publisher, year, edition, pages
2012. , 44 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-103810OAI: oai:DiVA.org:kth-103810DiVA: diva2:561900
Uppsok
Technology
Supervisors
Available from: 2012-12-17 Created: 2012-10-22 Last updated: 2013-02-15Bibliographically approved

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