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

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

2007-05-07

arxiv.org/abs/0705.0956v1

7th International Symposium on Advances in Robot Kinematics (2000) 1-10

Computer Science

Robotics

Scientific paper

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.

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