In this paper static isotropy in manipulators is studied in order to improve performances in a class of measurement robots dedicated to some biomechanical application. The Authors propose an approach based on the use of the GSLT (General System Logical Theory) and of the Lie Product applied to the compliance matrix. Null values of the Lie Product will be related to the isotropic configurations for the manipulators, provided that a proper variation operator is identified. Indeed, the Lie Product turns out to be a simple performance index, since it gives a real measure of how a configuration is near to isotropy. The approach appears promising not only for the analysis, but also for robot synthesis.
Isotropy Conditions for Measurement Manipulators in a Biomechanical Application by means of the Lie Product / Belfiore, Nicola Pio; A., Panella. - ELETTRONICO. - (2002). (Intervento presentato al convegno 11th Int. Workshop on Robotics in Alpe-Adria-Danube Region, tenutosi a Balatonfuered nel June 30 – 3 July, 2002).
Isotropy Conditions for Measurement Manipulators in a Biomechanical Application by means of the Lie Product
BELFIORE, Nicola Pio;
2002
Abstract
In this paper static isotropy in manipulators is studied in order to improve performances in a class of measurement robots dedicated to some biomechanical application. The Authors propose an approach based on the use of the GSLT (General System Logical Theory) and of the Lie Product applied to the compliance matrix. Null values of the Lie Product will be related to the isotropic configurations for the manipulators, provided that a proper variation operator is identified. Indeed, the Lie Product turns out to be a simple performance index, since it gives a real measure of how a configuration is near to isotropy. The approach appears promising not only for the analysis, but also for robot synthesis.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
