제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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On the Manipulability measure of dual arm

  • Choi, Myoung-Hwan (Robotics and Intelligent Systems Lab., Dept. of Control and Instrumentation Engineering, Seoul National Univ.) ;
  • Lee, Myoung-Yong (Robotics and Intelligent Systems Lab., Dept. of Control and Instrumentation Engineering, Seoul National Univ.) ;
  • Lee, Bum-Hee (Robotics and Intelligent Systems Lab., Dept. of Control and Instrumentation Engineering, Seoul National Univ.) ;
  • Ko, Myoung-Sam (Robotics and Intelligent Systems Lab., Dept. of Control and Instrumentation Engineering, Seoul National Univ.)
  • Published : 1990.10.01
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Abstract

The concept of the manipulability measure of the robotic mechanism is extended to the dual arm holding a single object. This is a measure of manipulating ability of the dual arm forming a closed kinematic chain in positioning and orienting the object. Dual arm manipulability measure is defined and compared to the single arm manipulability measure, and some properties are investigated.

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