Search
CSV
RISThe Role of Inertia Sensitivity in the Evaluation of Manipulator Performance
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...
Effects of Geometric Parameters on Manipulator Dynamic Performance
Publisher: The American Society of Mechanical Engineers (ASME)
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. ...