Manipulator kinetostatic performances are usually investigated considering only the geometrical structure of the robot, neglecting the effect of the drive system. In some circumstances this approach may leads to errors and mistakes. This may happen if the actuators are not identical to each other or when the employed transmission ratio are not identical and/or not constant. The paper introduces the so called “Generalized Jacobian Matrix” obtained identifying an appropriate matrix, generally diagonal, defined in order to: 1. properly weigh the different contributions of speed and force of each actuator. 2. describe the possible non-homogeneous behaviour of the drive system that depends on the configuration achieved by the robot. Theoretical analysis is supported by examples highlighting some of the most common mistakes done in the evaluation of a manipulator kinetostatic properties and how they can be avoided using the generalized jacobian matrix.
The Generalized Jacobian Matrix and the Manipulators Kinetostatic Properties
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Cinquemani, S, Giberti, H, & Legnani, G. "The Generalized Jacobian Matrix and the Manipulators Kinetostatic Properties." Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3. Istanbul, Turkey. July 12–14, 2010. pp. 721-729. ASME. https://doi.org/10.1115/ESDA2010-24919
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