Based on the use of the inertial parameters of a platonic end-effector, in the present work a method is proposed to homogenize the Jacobian matrix of an industrial robotic manipulator. Two vectors associated with the kinetic energy of the end-effector are defined. Both vectors are functions of a modified Jacobian matrix, J*, of the manipulator whose entries have all the same dimensions. Thus, the obtained homogenized matrix can be used to compute typical indices of performance of the manipulator with a clear physical meaning. Three case studies illustrate the usefulness of J*.
CITATION STYLE
Pamanes, J. A., & Moreno, H. A. (2019). Homogenization of the jacobian matrix of manipulators by using inertial parameters. In Mechanisms and Machine Science (Vol. 66, pp. 219–226). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-00365-4_26
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