Performance Evaluation Criteria for Analysis and Design of Robotic Mechanisms

摘要

Singularities In this research we develop criteria for analyzing ro- botic mechanisms based on workspace geometry, ShgUlaritieS, and hdiCeS for global COnditiOnhg , gl0- bal VelOCi@ global Payload global defo~ation~ and global error. These criteria provide a basis for Per- formance evaluation and optimal design.