Title :
A manipulator performance index based on the Jacobian rate of change: a motion planning analysis
Author :
Mayorga, René V. ; Carrera, Johnatan
Author_Institution :
Fac. of Eng., Regina Univ., Sask.
Abstract :
In this article a simple index for robot manipulator kinematics design and motion performance is presented. This index is derived by establishing a simple upper bound on the norm of the Jacobian rate of change matrix. Here, the proposed index behaviour is analyzed/tested on a redundant manipulator executing tasks under various scenarios. The results obtained demonstrate that this index compares favorably with other criteria that have been proposed in the literature
Keywords :
Jacobian matrices; performance index; redundant manipulators; Jacobian rate of change; manipulator performance index; motion planning analysis; robot manipulator kinematics; Design engineering; Jacobian matrices; Kinematics; Manipulators; Motion analysis; Motion planning; Performance analysis; Robots; Testing; Upper bound;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642351
