On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators

TL;DR

This paper introduces a kinetostatic performance index for optimizing the design of planar serial manipulators by measuring the Jacobian's proximity to an isotropic reference, aiding in design and control.

Contribution

It proposes a novel performance index based on Jacobian isotropy for the optimal dimensioning of planar manipulators, extending to control applications.

Findings

Performance index effectively guides manipulator design.

Index quantifies Jacobian quality relative to isotropic reference.

Applications demonstrated in design and control contexts.

Abstract

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix that is used as a reference model for purposes of performance evaluation. Applications of the index fall in the realm of design, but control applications are outlined. The paper focuses on planar manipulators, the basic concepts being currently extended to their three-dimensional counterparts.