A GLOBAL PERFORMANCE INDEX FOR THE KINEMATIC OPTIMIZATION OF ROBOTIC MANIPULATORS
A GLOBAL PERFORMANCE INDEX FOR THE KINEMATIC OPTIMIZATION OF ROBOTIC MANIPULATORS
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DOI：
10.1115/1.2912772
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发表时间：
1991-09-01
影响因子：
3.3
通讯作者：
ANGELES, J
中科院分区：
文献类型：
--
作者：
GOSSELIN, C;ANGELES, J
本文提出了一种新的机器人运动学优化性能指标。 该指数是基于操作器的雅可比矩阵的条件数，这是已知的是由于关节和笛卡尔空间之间的运动学和静态变换的误差的放大的措施。 此外，这里提出的指数，称为全局条件指数（CGI），是为了评估上述条件数在整个工作空间的分布。 此外，全局索引的概念适用于其他局部运动学或动力学索引。 这里介绍的指数适用于一个简单的串行两连杆机械手，一个球形的三度的自由度串行手腕，和三度的自由度平行的平面和球形机械手。 这些机械手的优化结果，基于GCI，包括在内。
In this paper, a novel performance index for the kinematic optimization of robotic manipulators is presented. The index is based on the condition number of the Jacobian matrix of the manipulator, which is known to be a measure of the amplification of the errors due to the kinematic and static transformations between the joint and Cartesian spaces. Moreover, the index proposed here, termed global conditioning index (CGI), is meant to assess the distribution of the aforementioned condition number over the whole workspace. Furthermore, the concept of a global index is applicable to other local kinematic or dynamic indices. The index introduced here is applied to a simple serial two-link manipulator, to a spherical three-degree-of-freedom serial wrist, and to three-degree-of-freedom parallel planar and spherical manipulators. Results of the optimization of these manipulators, based on the GCI, are included.