Velocity Performances Indexes for Parallel Mechanisms with Actuation Redundancy

Sébastien Krut 1 Olivier Company 1 François Pierrot 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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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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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