Manipulability Analysis of Two-Arm Robotic Systems

Abstract

Abstract Many tasks involving manipulation require cooperation between robots. Meanwhile, it is necessary to determinate the adequate values for the robot parameters to obtain a good performance. This paper discusses several aspects related with the manipulability of two co-operative robots when handling objects with different lengths and orientations. In this line of thought, a numerical tool is developed for the calculation and the graphical visualization of the manipulability measure.