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Discriminant functions for isotropic configurations in robot manipulators

Published online by Cambridge University Press:  08 June 2011

Ignacy Duleba
Ignacy Duleba*
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wroclaw University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw, Poland
*
*Corresponding author. E-mail: ignacy.duleba@pwr.wroc.pl
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Summary

In this paper, a family of discriminant functions is defined for searching isotropic configurations in robot manipulators. A subfamily of the functions extensively exploits properties of symmetric polynomials derived from a manipulability matrix. The complexity analysis of computing the discriminant functions is provided. Possible applications of the functions are mentioned and illustrated.

Keywords

ManipulatorIsotropyDiscriminant functionComplexityRoboticsApplications
Type
Articles
Information
Robotica , Volume 30 , Issue 2 , March 2012 , pp. 221 - 227
Copyright
Copyright © Cambridge University Press 2011

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