An application of the singular value decomposition to manipulability and sensitivity of industrial robots
An application of the singular value decomposition to manipulability and sensitivity of industrial robots
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DOI：
10.1137/0607034
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发表时间：
1986-04
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影响因子：
--
通讯作者：
M. Togai
中科院分区：
文献类型：
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作者：
M. Togai
在设计和评估工业机器人时，重要的是找到最优配置，并在工作空间中为预期任务定位最优点。本文将奇异值分解和摄动分析应用于机器人运动学的雅可比矩阵，提出用雅可比矩阵的条件数来衡量机器人的退化程度。然后提出了称为运动学“可操作性”和“灵敏度”的定性度量。研究了所提出的措施的一些性质，并讨论了这些措施之间的关系。得到了各种类型工业机器人的最优位姿。
In designing and evaluating industrial robots, it is important to find optimal configurations and locate optimum points in the workspace for the anticipated tasks. In the current paper the singular value decomposition and perturbation analysis are applied to the Jacobian of robot kinematics; the condition number of the Jacobian is then proposed to be a measure of the “nearness” to degeneracy. Then qualitative measures called kinematic “manipulability” and “sensitivity” are proposed. Some properties of proposed measures are investigated and the relation between these measures are discussed. Optimal postures of various types of industrial robots are obtained.