A measure for evaluation of dynamic dexterity based on a stochastic interpretation of manipulator motion

Evaluation of dynamic dexterity of manipulators is essential for problems of trajectory planning, mechanical design and installation planning. Because characteristics of the required manipulator motion affects the dexterity criteria, it should be considered in the evaluation. In this paper, the deviation of directions in which an end-effector is accelerated or decelerated, which is a characteristic of tasks, is formulated using a stochastic idea. A new measure, stochastic dynamic manipulability, is presented on the basis of the stochastic formulation of the deviation. Applications of stochastic dynamic manipulability to 2- and 3-DOF manipulators demonstrate that it is important to consider the deviation and that this measure is effective for the above problems.<>