Workspace Analysis Based on Manipulator Pose Dexterity Map

Humans grasp an object most in a dexterous orientation when they could reach the object in many orientations. Possessing a similar abstraction of manipulator pose dexterity is meaningful for grasp planers and task planner. In this paper, we consider feasible arm angle range as a significant value to refer redundant manipulator dexterity. We introduce a representation scheme that enables to visual manipulator dexterity in its workspace, the visual map is named manipulator pose dexterity map. Using the manipulator pose dexterity map, robot torso is able to position more sensible. Furthermore, manipulator could be planned with more dexterous approach angle by orientation dexterity index.