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[065] Citation: D. Kung, J. Parsons, B. Hannaford, 'Visualization of Manipulability with Mathematica,'
Proceedings IASTED Control & Robotics, Vancouver, August, 1992.
Abstract
A software package has been developed in Mathematica to perform analysis of
kinematic manipulability for arbitrary serial chain robot manipulators. The
program contains heuristics to locate the optimal frame in which to project the
coordinate free representation of the Jacobian matrix. The resulting matrix is
then derived in symbolic form and expressions are reduced to simplest form.
Manipulability is then computed numerically using Mathematica's singular value
decomposition function. Depending on the selected frame, the computation time
for the reduced, symbolic Jacobian matrix varied over almost four orders of
magnitude for an 8-dof manipulator model. Further features of the software
include color graphics visualization of the manipulability of the manipulator as
it moves through a specified trajectory. A stick-figure representation of the
manipulator is generated and stored in symbolic form. It is then rendered at
each position in the trajectory, and colored according to it's manipulability at
the current point.
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Updated: Tue Jul 15 23:54:48 2008
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