On the use of scaling matrices for task-specific robot design

TitleOn the use of scaling matrices for task-specific robot design
Publication TypeJournal Article
Year of Publication1999
AuthorsStocco, L. J., S. E. Salcudean, and F. Sassani
JournalRobotics and Automation, IEEE Transactions on
Pagination958 -965
Date Publishedoct.
Keywordscontrol system synthesis, impedance matrix, isotropy, Jacobian matrices, Jacobian matrix, optimisation, robot design, robots, scaling matrix, search method, search problems, task-space scale factors, task-specific design, worst case design

Good robot performance often relies upon the selection of design parameters that lead to a well conditioned Jacobian or impedance ldquo;design rdquo; matrix. In this paper, a new design matrix normalization technique is presented to handle the problem of nonhomogeneous physical units and to provide a means of specifying a performance based design goal. The technique pre- and post-multiplies a design matrix by scaling matrices corresponding to a range of joint and task space variables. The task-space scale factors are used to set the relative required strength or speed along any axes of end point motion while the joint-space scale factors are treated as free design parameters to improve isotropy through nonhomogeneous actuation. The effect of scaling on actual designs is illustrated by a number of design examples using a global search method previously developed by the authors


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