Designing Manipulators for Both Kinematic and Dynamic Isotropic Properties
This paper is concerned with the design of manipulators for good distribution of both velocity and acceleration throughout the workspace. We derive inequalities between the condition numbers of the Jacobian matrix and matrices that represent dynamic characteristics of such robots. We show that designing a manipulator for good isotropicity of velocity (acceleration) distribution may lead to an arm with poor uniformity of acceleration (velocity) distribution. We present necessary and sufficient conditions for having both good kinematic and dynamic isotropic properties, and illustrate these concepts with results obtained for a 2R planar manipulator.
KeywordsCondition Number Jacobian Matrix Redundant Manipulator Kinematic Performance Cartesian Direction
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