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Merlet J P
INRIA, Sophia Antipolis,
Cedex 06902, France
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GETTING EXACT
INFORMATION
FROM THE INVERSE JACOBIAN
MATRIX OF PARALLEL AND SERIAL
ROBOTS*
Abstract: The inverse Jacobian matrix of a robot contains highly useful information about the performances of the robot, for example about its accuracy and dexterity. Unfortunately these information are available only mostly through the eigenvalues of this matrix which are pose and design parameters dependent. Interval analysis based algorithms is presented that allow to extract useful information from any matrix such as minimal and maximal eigenvalues and minimal condition number.
Key words:
Conditioning Isotropy Jacobian matrix |