The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator

For a grasping task planner, the pre-planning of reachable tip pose in manipulator’s workspace is important. On this basis, for seven-degree-of-freedom (7-DOF) redundant manipulator, it very meaningful to study how give full play its characteristics achieve more dexterous grasping. In paper, through improved shape primitive method, reachability spheres 7-DOF manipulator studied were accurately captured, and accurate capability map was generated. Then, based on idea redundancy angle discretization, concept obstacle avoidance ability (OAA) index innovatively proposed measure dexterity certain pose. Based OAA axis, distribution each sphere analyzed. The prediction models all obtained by Levenberg–Marquardt algorithm finally formed which provides new manipulator. Finally, we general frameworks different combining two kinds maps verify effect.