Scaled Manipulability and Force Manipulability Ellipsoid of a Two Link RR Robot: Elbow Down Config.

Plot the scaled (Unit sphere/ellipsoid) Manipulability and Force Manipulability Ellipsoid of a Two Link R-R Robot / Manipulator. In addition, Yoshikawa's Manipulability Measure, as well as Inverse of the Condition Number (i.e. Isotropy Index) are also plotted across the reachable range. The inverse kinematic solution of a Two link RR manipulator result in Elbow-Up and Elbow-Down configuration, here the Elbow Down Configuration is plotted.

Both Link 1 and Link 2 has length of 4 unit - Hence the range of the workspace in the x-direction is between 0 and 8 unit. Note that both ellipsoids are scaled (by the largest value) so that the longest axis is always 1.

The one with Elbow-Up solution can be view here:
http://www.youtube.com/watch?v=GUdoEeGZbe0


For more info:
http://www.eng.buffalo.edu/~llee3/

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Category:

Education

Tags:

• Robot
• RR Manipulator
• Two Links Robot
• Research