کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
9654525 680584 2005 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A kinematics performance index based on the rate of change of a standard isotropy condition for robot design optimization
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
A kinematics performance index based on the rate of change of a standard isotropy condition for robot design optimization
چکیده انگلیسی
In this article a simple performance index for robot manipulator kinematic design optimization and/or best posture determination is presented. This index is derived from a homogenized isotropy condition of a properly weighted Jacobian matrix. Here it is shown that it is relatively easy to determine a joint configuration neighborhood where a homogenized isotropy condition changes the least. Here the proposed index is applied to the kinematic design optimization and best posture determination of a redundant manipulator, and compared with the results obtained from using other performance indices. From the results obtained it can be observed that the proposed index compares favorably with other performance indices.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 53, Issues 3–4, 31 December 2005, Pages 153-163
نویسندگان
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