As optimization goals we aimed to reproduce results from manual hybridizations and published results, to minimize the variance, to maximize dynamic range, to minimize standard deviation of the triplicate spot measurements, and to maximize signal-to-noise.
This formula indicates that joint drive dynamics can significantly influence the dynamic manipulability of a robot.
In this paper, kinematics, dynamics and trajectory routing algorithm of a 2-link underwater manipulator of an AUV (Autonomous Underwater Vehicle) "Twin-Burger" are discussed considering the dynamic manipulability and the interaction between the manipulator and the AUV.
Dynamic manipulability was originally proposed for serial manipulators (Yoshikawa 1985a, 2000), and was formulated for cooperative robots as the ratio between an input torque and the resultant acceleration of the grasped object (Bicchi et al. 1997).
The most important effect is that changing the gear reduction ratios modifies the nature of the dynamic manipulability distribution throughout the workspace of the manipulator.
Information obtained through the analysis of dynamic manipulability can be useful in the design and control of robotic manipulators.
In order to reflect this influence, a new form of the dynamic manipulability ellipsoid is developed, which includes the gear reduction ratios, and a modified formula is derived for the dynamic manipulability measure.
Additionally, modified dynamic manipulability that considers hydrodynamic effects was selected to measure the performance of design alternatives.
In this paper, we investigate the influences of the joint drive systems on the dynamic manipulability, with special attention to the effects of gear reduction ratios.
Moreover, dynamic manipulability measure (DMM) of the hexrotor is newly defined to analyze the maneuverability, and DMM of the hexrotor with SCTR structure is found suitable for the evaluation of full-actuation property of the vehicle structure.
