Title :
Constructing performance measures for robot manipulators
Author :
van den Doel, Kees ; Pai, Dinesh K.
Author_Institution :
Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
Abstract :
We introduce a formalism for the systematic construction of performance measures for robot manipulators in a unified framework based on differential geometry. We show how known measures arise naturally in our formalism and we construct some new measures. The new measures presented here are the effective inertia on workspace and the kinematic and dynamic anisotropy measures for redundant manipulators
Keywords :
differential geometry; kinematics; manipulators; performance evaluation; redundancy; differential geometry; dynamic anisotropy measures; formalism; inertia; kinematic anisotropy measures; performance measures; redundant manipulators; robot; systematic construction; Anisotropic magnetoresistance; Coordinate measuring machines; Extraterrestrial measurements; Intelligent robots; Jacobian matrices; Kinematics; Manipulators; Orbital robotics; Particle measurements; Time measurement;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351361
