1A2-H05 Position Optimization using Manipulability and Load Capability for Hand/Arm Robot(Robot Hand Mechanism and Grasping Strategy(2))

Abstract

Papers propose a position optimization method that achieves keeping manipulation capability and preventing motor's injury from too large loads. This method is calculated by two indexes of evaluation. Fisrt index is the manipulability. It can evaluate a manipulation capability and determine whether a manipulation keep away from the singular point or not. Second index is the joint load function. It can determine whether loads of joint motors are divided or not. Finally, position optimization method applies Hand/Arm Robot System and I show the usefulness of the proposed position optimization.