| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 805084 | Mechanism and Machine Theory | 2007 | 13 Pages |
Abstract
In this paper we introduce four new posture-dependent performance indices for control. Two of them are based on an object-oriented metric in the workspace (end-effector dependent) and the other on a linearized approximation of direct kinematics (end-effector independent). All newly defined indices are invariant under rigid-body motions and similarities, they have a geometric meaning, and they can be computed in real time. We also give a geometric interpretation of the characteristic length.
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Authors
G. Nawratil,