Kinematic Isotropy and the Conditioning Index of Serial Robotic Manipulators
Kinematic Isotropy and the Conditioning Index of Serial Robotic Manipulators
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DOI：
10.1177/027836499201100605
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发表时间：
1992-12
期刊：
影响因子：
--
通讯作者：
J. Angeles;C. López-Cajún
中科院分区：
文献类型：
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作者：
J. Angeles;C. López-Cajún
本文用串联机器人最小条件数的倒数定义了串联机器人的条件指数。机械手的条件数被定义为它的雅可比矩阵的条件数。此外，在定义雅可比条件数时，需要雅可比矩阵的二次范数。然而，这个规范，或就此而言任何其他规范，带来了维inho mogeneities。本文表明，通过适当地定义基于加权正定矩阵的范数，可以解决维数不均匀性问题。机械手的条件指数为100%被称为各向同性，六轴各向同性机械手被引入。该操纵器的所有相邻旋转轴之间的角度均为90°，所有相邻轴之间的距离均相同;而且，这些距离与这些轴的偏移量相同。腕部分区机械手的运动学条件给予应有的重视，并说明了这种类型的工业机器人的一些例子。
The conditioning index of a serial robotic manipulator is de fined in this article in terms of the reciprocal of its minimum condition number. The condition number of a manipulator is defined, in turn, as that of its Jacobian matrix. Moreover, in defining the Jacobian condition number, a quadratic norm of the Jacobian matrix is needed. However, this norm, or for that matter any other norm, brings about dimensional inho mogeneities. It is shown here that by properly defining the said norm based on a weighting positive definite matrix, the dimensional inhomogeneity is resolved. Manipulators with a conditioning index of 100% are termed isotropic, a six-axis isotropic manipulator being introduced. This manipulator has all its angles between neighboring revolute axes at 90° and all its distances between neighboring axes identical; more over, these distances are identical to the offsets of those axes. The kinematic conditioning of wrist-partitioned manipulators is given due attention, and illustrated with some examples of industrial robots of this type.