DocumentCode
2334793
Title
Constructing performance measures for robot manipulators
Author
van den Doel, Kees ; Pai, Dinesh K.
Author_Institution
Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
fYear
1994
fDate
8-13 May 1994
Firstpage
1601
Abstract
We introduce a formalism for the systematic construction of performance measures for robot manipulators in a unified framework based on differential geometry. We show how known measures arise naturally in our formalism and we construct some new measures. The new measures presented here are the effective inertia on workspace and the kinematic and dynamic anisotropy measures for redundant manipulators
Keywords
differential geometry; kinematics; manipulators; performance evaluation; redundancy; differential geometry; dynamic anisotropy measures; formalism; inertia; kinematic anisotropy measures; performance measures; redundant manipulators; robot; systematic construction; Anisotropic magnetoresistance; Coordinate measuring machines; Extraterrestrial measurements; Intelligent robots; Jacobian matrices; Kinematics; Manipulators; Orbital robotics; Particle measurements; Time measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351361
Filename
351361
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