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
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;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724877
