Evaluation of the optimal design “cosinor model” for enhancing the potential of robotic theodolite kinematic observations

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

✍ René V. Mayorga; Johnatan Carrera; Maria M. Oritz 📂 Article 📅 2005 🏛 Elsevier Science 🌐 English ⚖ 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