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An Angle-Axis Space-Based Orientability Index Characterizing Complete Orientations
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DOI：10.1109/TMECH.2021.3074598.png)
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Abstract
En 中文
The development of new materials/actuators in robotics leads to the rapid growth of new types of robots, including soft/continuum robots, reconfigurable robots, exoskeleton robots, haptic master devices, and so on. When designing a new robot, orientability is an important performance index to evaluate its dexterity. However, a theoretical investigation of the orientability is still lacking. The existing orientability index can only characterize the reachability of a line, rather than a complete orientation. To evaluate the reachability of complete orientations, in this article, we propose a novel orientability index based on the angle-axis space, which is bijective to the rotation group SO(3). Furthermore, a relative orientability index is proposed to characterize the matching degree of the workspace of a given robot to its target workspace. The proposed orientability and relative orientability indices are then used to evaluate and compare the dexterity of three 6-DOF continuum robots and a haptic master device. The results validate the effectiveness of the proposed orientability in evaluating the dexterity.
Keywords:
Robots
Indexes
Tools
End effectors
Haptic interfaces
Nonlinear distortion
Mechatronics
Angle-axis space
complete orientations
dexterity
orientability
distortion correction
robot design
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