Velocity Performances Indexes for Parallel Mechanisms with Actuation Redundancy - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Conference Papers Year : 2002

Velocity Performances Indexes for Parallel Mechanisms with Actuation Redundancy

Sébastien Krut
Robotique médicale et mécanismes parallèles
CV
Olivier Company
Robotique médicale et mécanismes parallèles
CV
François Pierrot
Robotique médicale et mécanismes parallèles
CV

Abstract

This paper analyses the velocity isotropy of Parallel mechanism with Actuation Redundancy. The limits of classical indexes based on the Jacobean matrix condition number are shown. Two new indexes are proposed, and the ways to compute them efficiently are given.

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Robotics [cs.RO]
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269415

Submitted on : Thursday, April 3, 2008-8:05:43 AM

Last modification on : Friday, March 24, 2023-2:52:50 PM

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lirmm-00269415 , version 1 (03-04-2008)

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  • HAL Id : lirmm-00269415 , version 1

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Sébastien Krut, Olivier Company, François Pierrot. Velocity Performances Indexes for Parallel Mechanisms with Actuation Redundancy. Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Oct 2002, Quebec (Canada), pp.46-56. ⟨lirmm-00269415⟩

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