Velocity Performances Indices for Parallel Mechanisms with Actuation Redundancy - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Journal Articles Robotica Year : 2004

Velocity Performances Indices for Parallel Mechanisms with Actuation Redundancy

Abstract

This paper analyses the concept of velocity isotropy for Parallel Mechanisms with Actuation Redundancy (PMAR). The limits of classical indices based on the Jacobean matrix condition number are shown. It is proposed to use either the largest ellipsoid included in the operational polytop, or the operational polytop itself, as better representations of a PMAR capabilities. The polytop is studied because it is actually the accurate representation of a machine capability, while the largest ellipsoid remains similar to the classical tool roboticists are dealing with for decades. Velocity performance indices are proposed, and the ways to compute them efficiently are given.
Fichier principal
Vignette du fichier
D379.PDF (562.56 Ko) Télécharger le fichier
Loading...

Dates and versions

lirmm-00108547 , version 1 (23-10-2006)

Identifiers

Cite

Sébastien Krut, Olivier Company, François Pierrot. Velocity Performances Indices for Parallel Mechanisms with Actuation Redundancy. Robotica, 2004, Vol. 22 (Part 2), pp.129-139. ⟨10.1017/S0263574703005411⟩. ⟨lirmm-00108547⟩
87 View
221 Download

Altmetric

Share

More