ROMANSY 11 pp 99-106 | Cite as

Designing Manipulators for Both Kinematic and Dynamic Isotropic Properties

  • R. Matone
  • B. Roth
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


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.


Condition Number Jacobian Matrix Redundant Manipulator Kinematic Performance Cartesian Direction 
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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • R. Matone
    • 1
  • B. Roth
    • 1
  1. 1.Stanford UniversityStanfordUSA

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