Performance measures for constrained systems

K. van den Doel, D.K. Pai
1997 IEEE Transactions on Robotics and Automation  
We present a geometric theory of the performance of robot manipulators, applicable to systems with constraints, which m a y be non-holonomic. The performance is quanti ed by a geometrical object, the induced metric tensor, from which scalars may be constructed by i n variant tensor operations to give performance measures. The measures thus de ned depend on the metric structure of con guration and work space, which should be chosen appropriately for the problem at hand. The generality of this
more » ... nerality of this approach allows us to specify a system of joint connected rigid bodies with a large class of metrics. We describe how the induced metric can be computed for such a system of joint connected rigid bodies and describe a MATLAB program that allows the automatic computation of the performance measures for such systems. We illustrate these ideas with some computations of measures for the SARCOS dextrous arm 16 , and the Platonic Beast, a multi-legged walking machine 12 .
doi:10.1109/70.563649 fatcat:xsde34lkg5fytfzzf7nrbuiukm