The Role of Inertia Sensitivity in the Evaluation of Manipulator Performance

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 measure of manipulator performance. The indices indicate the relative magnitude of the nonlinear forces (Coriolis and centripetal) and the effects due to the changes in geometric parameters. They also provide a new graphical means for delineating paths involving small nonlinear forces throughout the workspace. In addition, the inertia matrix is examined for invariance conditions. Finally, a design/path planning scenario is presented which utilizes the information provided by the indices.