Kinematic evaluation of manipulator for peg-in-hole task

In a peg-in-hole task, the task-performable areas are graphically evaluated using gray scales from the manipulability and a DMA (dexterity measure for assembly) in the reachable areas of a manipulator. The DMA is represented as relation between a unit value of joint angular errors to be allowable in the task and a unit value of joint angular errors of the manipulator. The DMA consists of a DMGC (dexterity measure for geometric conditions) and a DMFC (dexterity measure for force conditions). These measures relate to task conditions including both compliance of an RCC (remote center compliance) and compliance of the manipulator joints. The task conditions are represented as the physics models. The manipulability measure is used to check the neighborhoods of the mechanical singularities of the manipulator. A graphic representation enables us to understand easily the relations between the task and the kinematics of the manipulator, since it integrates the DMA and the manipulability measure in the reachable areas