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A Global Performance Index for the Kinematic Optimization of Robotic Manipulators

✍ Scribed by Gosselin, C.; Angeles, J.

Book ID
120640650
Publisher
The American Society of Mechanical Engineers
Year
1991
Tongue
English
Weight
631 KB
Volume
113
Category
Article
ISSN
1050-0472

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πŸ“œ SIMILAR VOLUMES

A kinematics performance index based on
A kinematics performance index based on the rate of change of a standard isotropy condition for robot design optimization
✍ RenΓ© V. Mayorga; Johnatan Carrera; Maria M. Oritz πŸ“‚ Article πŸ“… 2005 πŸ› Elsevier Science 🌐 English βš– 339 KB

In this article a simple performance index for robot manipulator kinematic design optimization and/or best posture determination is presented. This index is derived from a homogenized isotropy condition of a properly weighted Jacobian matrix. Here it is shown that it is relatively easy to determine