A manipulator performance index based on the Jacobian rate of change: a motion planning analysis

Abstract

In this article a simple index for robot manipulator kinematics design and motion performance is presented. This index is derived by establishing a simple upper bound on the norm of the Jacobian rate of change matrix. Here, the proposed index behaviour is analyzed/tested on a redundant manipulator executing tasks under various scenarios. The results obtained demonstrate that this index compares favorably with other criteria that have been proposed in the literature