On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators

Damien Chablat; Jorge Angeles

On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators

Robotics 2007-05-23 v1

Authors: Damien Chablat , Jorge Angeles

Abstract

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix that is used as a reference model for purposes of performance evaluation. Applications of the index fall in the realm of design, but control applications are outlined. The paper focuses on planar manipulators, the basic concepts being currently extended to their three-dimensional counterparts.

Keywords

kinetostatic optimization planar manipulators serial manipulators performance index jacobian matrix isotropic matrix dimensioning

Cite

@article{arxiv.0705.1150,
  title  = {On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators},
  author = {Damien Chablat and Jorge Angeles},
  journal= {arXiv preprint arXiv:0705.1150},
  year   = {2007}
}

Related papers

View all related →