Name
Abstract | ||
|---|---|---|
Good robot performance often relies upon the selection of design parameters that lead to a well conditioned Jacobian or impedance "design" matrix. In this paper, a new design matrix normalization technique is presented to handle the problem of nonhomogeneous physical units and to provide a means of specifying a performance based design goal. The technique pre- and post multiplies a design matrix by scaling matrices corresponding to a range of joint and task space variables. The task space scale factors are used to set relative required strength or speed along any axes of end-point motion while the joint-space scale factors are treated as free design parameters to improve isotropy through nonhomogeneous actuation. The effect of scaling on actual designs is illustrated by a number of design examples using a global search method previously developed by the authors. |
Year | DOI | Venue |
|---|---|---|
1999 | 10.1109/70.795800 | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION |
Keywords | Field | DocType |
global optimization, isotropy, physical unit consistency, robot design, scaling matrix, workspace inclusive, worst case design | Isotropy,Impedance parameters,Normalization (statistics),Jacobian matrix and determinant,Matrix (mathematics),Control theory,Control engineering,Design matrix,Robot,Scaling,Mathematics | Journal |
Volume | Issue | ISSN |
15 | 5 | 1042-296X |
Citations | PageRank | References |
20 | 1.94 | 5 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Leo J. Stocco | 1 | 53 | 6.36 |
| S. E. Salcudean | 2 | 920 | 123.70 |
| F. Sassani | 3 | 196 | 18.49 |