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New performance indices for 6R robots

✍ Scribed by G. Nawratil

Publisher
Elsevier Science
Year
2007
Tongue
English
Weight
750 KB
Volume
42
Category
Article
ISSN
0094-114X

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✦ Synopsis

In this paper we introduce four new posture-dependent performance indices for control. Two of them are based on an object-oriented metric in the workspace (end-effector dependent) and the other on a linearized approximation of direct kinematics (end-effector independent). All newly defined indices are invariant under rigid-body motions and similarities, they have a geometric meaning, and they can be computed in real time. We also give a geometric interpretation of the characteristic length.

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