Discriminant functions for isotropic configurations in robot manipulators

Authors:
Ignacy Duleba
Affiliations:
Institute of computer engineering, control and robotics, wroclaw university of technology, janiszewski st. 11/17, 50-372 wroclaw, poland
Venue:
Robotica
Year:
2012

Citing 7
Cited 0

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Abstract

In this paper, a family of discriminant functions is defined for searching isotropic configurations in robot manipulators. A subfamily of the functions extensively exploits properties of symmetric polynomials derived from a manipulability matrix. The complexity analysis of computing the discriminant functions is provided. Possible applications of the functions are mentioned and illustrated.