Manipulability and sensitivity for design and evaluation of industrial robots: Kinematic consideration.
01 January 1986
In designing and evaluating industrial robots, it is important to find optimal configurations and locate optimum points in the workspace for the anticipated tasks. In this paper new qualitative measures for kinematic manipulability and sensitivity are proposed. Some properties of proposed measures are investigated and the relation between these measures are discussed. Optimal postures of various types of industrial robots are obtained.