HAL : hal-00145119, version 1

arXiv : 0705.0956

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ARK, (2000)

On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures

Jorge Angeles 1, Damien Chablat 2

(2000)

Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number leads, under certain conditions, to isotropic configurations, for which the roundoff-error amplification is lowest. In this paper, the isotropy conditions, introduced elsewhere, are the motivation behind the introduction of isotropic sets of points. By connecting together these points, we define families of isotropic manipulators. This paper is devoted to planar manipulators, the concepts being currently extended to their spatial counterparts. Furthermore, only manipulators with revolute joints are considered here.

1 :	Centre for Intelligent Machines (CIM)
	McGill University
2 :	Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN)
	CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes

Équipe de recherche : Méthode de conception en mécanique

Domaine

:

Informatique/Robotique

hal-00145119, version 1

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Contributeur : Damien Chablat <>

Soumis le : Lundi 7 Mai 2007, 20:15:17

Dernière modification le : Lundi 7 Mai 2007, 20:19:14