The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator
For a grasping task planner, the pre-planning of the reachable tip pose in a manipulator’s workspace is important. On this basis, for a seven-degree-of-freedom (7-DOF) redundant manipulator, it is very meaningful to study how to give full play to its redundant characteristics to achieve more dextero...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/11/1038 |
| _version_ | 1827646304256262144 |
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| author | Yuan Quan Chong Zhao Congmin Lv Ke Wang Yanlin Zhou |
| author_facet | Yuan Quan Chong Zhao Congmin Lv Ke Wang Yanlin Zhou |
| author_sort | Yuan Quan |
| collection | DOAJ |
| description | For a grasping task planner, the pre-planning of the reachable tip pose in a manipulator’s workspace is important. On this basis, for a seven-degree-of-freedom (7-DOF) redundant manipulator, it is very meaningful to study how to give full play to its redundant characteristics to achieve more dexterous grasping. In this paper, through the improved shape primitive method, the reachability spheres of the 7-DOF manipulator studied were more accurately captured, and a more accurate reachability capability map was generated. Then, based on the idea of redundancy angle discretization, the concept of the obstacle avoidance ability (<i>OAA</i>) index is innovatively proposed to measure the dexterity of the grasping task of the manipulator in a certain tip pose. Based on the <i>OAA</i> index axis, the distribution of the <i>OAA</i> index in each reachability sphere was analyzed. The prediction models of the <i>OAA</i> index of all reachability spheres in the workspace of the manipulator were obtained by the Levenberg–Marquardt algorithm and finally formed a dexterity capability map of the manipulator, which provides a new idea for the pre-planning of the dexterous grasping task of the redundant manipulator. Finally, we give the general frameworks of different grasping pre-planning by combining two kinds of capability maps and verify the effect. |
| first_indexed | 2024-03-09T18:55:01Z |
| format | Article |
| id | doaj.art-a52747258ce44640a906811ee32ec228 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T18:55:01Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-a52747258ce44640a906811ee32ec2282023-11-24T05:33:20ZengMDPI AGMachines2075-17022022-11-011011103810.3390/machines10111038The Dexterity Capability Map for a Seven-Degree-of-Freedom ManipulatorYuan Quan0Chong Zhao1Congmin Lv2Ke Wang3Yanlin Zhou4Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, ChinaTechnology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, ChinaTechnology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, ChinaTechnology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, ChinaTechnology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, ChinaFor a grasping task planner, the pre-planning of the reachable tip pose in a manipulator’s workspace is important. On this basis, for a seven-degree-of-freedom (7-DOF) redundant manipulator, it is very meaningful to study how to give full play to its redundant characteristics to achieve more dexterous grasping. In this paper, through the improved shape primitive method, the reachability spheres of the 7-DOF manipulator studied were more accurately captured, and a more accurate reachability capability map was generated. Then, based on the idea of redundancy angle discretization, the concept of the obstacle avoidance ability (<i>OAA</i>) index is innovatively proposed to measure the dexterity of the grasping task of the manipulator in a certain tip pose. Based on the <i>OAA</i> index axis, the distribution of the <i>OAA</i> index in each reachability sphere was analyzed. The prediction models of the <i>OAA</i> index of all reachability spheres in the workspace of the manipulator were obtained by the Levenberg–Marquardt algorithm and finally formed a dexterity capability map of the manipulator, which provides a new idea for the pre-planning of the dexterous grasping task of the redundant manipulator. Finally, we give the general frameworks of different grasping pre-planning by combining two kinds of capability maps and verify the effect.https://www.mdpi.com/2075-1702/10/11/1038redundant manipulatorgrasping taskredundant parameterdexterityreachability |
| spellingShingle | Yuan Quan Chong Zhao Congmin Lv Ke Wang Yanlin Zhou The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator Machines redundant manipulator grasping task redundant parameter dexterity reachability |
| title | The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator |
| title_full | The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator |
| title_fullStr | The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator |
| title_full_unstemmed | The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator |
| title_short | The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator |
| title_sort | dexterity capability map for a seven degree of freedom manipulator |
| topic | redundant manipulator grasping task redundant parameter dexterity reachability |
| url | https://www.mdpi.com/2075-1702/10/11/1038 |
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