A kinematics performance index based on the rate of change of a standard isotropy condition for robot design optimization

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.