A Global Performance Index for the Kinematic Optimization of Robotic Manipulators

[+] Author and Article Information
C. Gosselin

Départment de Génie Mécanique, Université Laval, Ste-Foy, Québec, Canada, G1K 7P4

J. Angeles

Department of Mechanical Engineering and Robotic Mechanical Systems Laboratory, McGill Research Center for Intelligent Machines, McGill University, Montréal, Québec, Canada

J. Mech. Des 113(3), 220-226 (Sep 01, 1991) (7 pages) doi:10.1115/1.2912772 History: Received December 01, 1987; Revised June 01, 1990; Online June 02, 2008


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.

Copyright © 1991 by The American Society of Mechanical Engineers
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