DocumentCode
2143282
Title
Upper bound conditioning as a performance index for manipulator motion planning
Author
Mayorga, René V. ; Torres, Luz Abril
Author_Institution
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Volume
3
fYear
1998
fDate
13-17 Oct 1998
Firstpage
1913
Abstract
In this article a simple performance index for proper manipulator motion planning is presented. This index is derived by establishing a simple upper bound for a standard condition number of the Jacobian matrix. Here the proposed index behaviour is analyzed/tested on a planar redundant manipulator executing tasks under various scenarios
Keywords
Jacobian matrices; path planning; performance index; redundant manipulators; Jacobian matrix; manipulator motion planning; performance index; planar redundant manipulator; upper bound conditioning; Design engineering; Design optimization; Jacobian matrices; Kinematics; Performance analysis; Performance evaluation; Standards development; Systems engineering and theory; Testing; Upper bound;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.724877
Filename
724877
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