Jacobian, Manipulability, Condition Number and Accuracy of Parallel Robots [chapter]

J. -P. Merlet
Springer Tracts in Advanced Robotics  
Although the concepts of jacobian matrix, manipulability and condition number have been floating around since the early beginning of robotics their real significance is not always well understood, although these conditioning indices play an important role e.g. for optimal robot design. In this paper we re-visit these concepts for parallel robots and exhibit some surprising results (at least for the author!) that show that these concepts have to be manipulated with care for a proper
more » ... proper understanding of the kinematics behavior of a robot.
doi:10.1007/978-3-540-48113-3_16 dblp:conf/isrr/Merlet05a fatcat:bkbpzxndpbcpfikcogrzbvfqua