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Erschienen in:
1996 | OriginalPaper | Buchkapitel
The Kinematic Sensitivities of Redundant Robotic Manipulators
verfasst von : J. Angeles, F. Bulca, N. Areson, M. Areson
Erschienen in: Recent Advances in Robot Kinematics
Verlag: Springer Netherlands
Enthalten in: Professional Book Archive
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The kinematic sensitivity of a manipulator is the effect that a ‘small’ change in the required task produces on the posture of the manipulator. Redundant manipulators being capable of performing both a primary and a secondary task admit, correspondingly, two kinematic sensitivities. We refer to them as the primary and the secondary sensitivities, each being associated with a sensitivity matrix. The primary sensitivity matrix turns out to be the partial derivative of the joint rates with respect to the twist of the end-effector, the secondary sensitivity matrix being defined as the partial derivative of the joint rates with respect to the secondary task. It is shown that the primary sensitivity can be minimized by design, while the secondary sensitivity is constant.