Performance Measures for Robot Manipulators: A Unified Approach

摘要

We introduce a formalism for the systematic construction of performance measures of robot manipulators in a unified framework based on differential geometry. We show how known measures arise naturally in our formalism and we construct several new ones, including a nonlinearity mea sure and a class of redundancy measures. The measures are applied to the analysis of two- and three-link planar arms for illustration.