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Kinematic design of the RSSR-SC spatial linkage based on rotatability conditions

✍ Scribed by J. Jesús Cervantes-Sánchez; Miguel A. Moreno-Báez; L. Antonio Aguilera-Cortés; Emilio J. González-Galván

Publisher
Elsevier Science
Year
2005
Tongue
English
Weight
584 KB
Volume
40
Category
Article
ISSN
0094-114X

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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