Abstract: An algorithm has been presented in which the role of inertia sensitivities in path planning of robots is investigated. The main objective is to obtain a path, from point A to point B in ...

Abstract: The sensitivities of the eigensystem of a manipulator’s generalized inertia matrix with respect to kinematic (geometric and joint variable) parameters are used to form a set of indices as a ...

Abstract: The sensitivity of the eigenvalues of a manipulator’s generalized inertia matrix with respect to the geometric parameters are used to form a set of indices as a measure of manipulator performance. ...