Task-oriented dual-arm manipulability and its application to configuration optimization

The authors deal with a measure of static manipulability for a dual-redundant-arm system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented dual-arm manipulability measure is defined as the measure of geometrical similarity between the desired and the actual dual-arm manipulability ellipsoids at the selected task points. The authors present mathematical formulas defining task-oriented dual redundant arm static manipulability and its application to the optimization of dual-redundant-arm joint as well as grasp configurations. Simulation results are shown