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pp.9-19
This paper proposes a performance index for the multiple shape object handling of dual arm manipulator to determine whether a robot is good or not. When the dual‐arm manipulator grasps a fixed object and is posed, the dual‐arm manipulator should procure a space to freely control the manipulator. As a performance evaluation parameter, each joint torque from current sensor signal is utilized. From the current information, torque and energy for each joint are estimated. In this paper an performance index for an unstructured object is defined by an energy‐cost function, and stability analysis for each motion is derived by the maximum force to the object. The maximum force to the object is computed by the inertia of object and acceleration information of end‐effector. The acceleration data are derived by the double derivation of each encoder signal. Manipulability measure which implies how efficiently the dual –arm manipulator can move with the grasped object, can be represented by the intersection of the two manipulability ellipsoids for the left and right arms. Effectiveness of the proposed algorithm has been verified through the practical simulations and real experiments.
