Definition of a kinematic metric for robot manipulators

Abstract

Abstract Using a Riemannian metric in the special Euclidean group we define a kinematic metric on the space of kinematics of robot manipulators. Prospective applications of the metric in kinematic design and performance evaluation of robot manipulators are indicated. For exemplary kinematics, including the PUMA 600, explicit formulas are provided describing the dependence of the metric on manipulator's geometric parameters. © 1994 John Wiley & Sons, Inc.