Title :
Optimal upper bound conditioning for manipulator kinematic design optimization
Author :
Mayorga, Ren?© V. ; De L?©on, Enrique D?az
Author_Institution :
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Abstract :
A simple index for the manipulator kinematic design optimization and/or best posture determination is presented. This index is derived by establishing a simple upper bound for a standard condition number of the Jacobian matrix. Here it is shown that it is relatively easy to determine a joint configuration neighborhood where the rank is preserved and characterized with a small standard condition number. Here the proposed index is applied to the kinematic design optimization of a planar redundant manipulator
Keywords :
Jacobian matrices; manipulator kinematics; optimisation; Jacobian matrix; best posture determination; joint configuration neighborhood; manipulator kinematic design optimization; optimal upper bound conditioning; planar redundant manipulator; standard condition number; Design engineering; Design optimization; Jacobian matrices; Kinematics; Matrix decomposition; Null space; Singular value decomposition; Systems engineering and theory; Transmission line matrix methods; Upper bound;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.649002
