Joint-Angle Invariance of Jacobian-Based Performance Indices for Serial Robotic Manipulators

Key points

• We identify kinematic conditions under which representative performance indices, including manipulability, stiffness, and other Jacobian-derived indices, remain independent of the first and last joint angles.1
• This property allows a systematic reduction in the effective configuration-space dimensionality, thereby simplifying the performance evaluation.1
• The utility of JAI is demonstrated through two application scenarios: workspace performance map construction and task layout optimization.1
• Comparative results show that the proposed JAI-based strategy reduces computational effort and storage requirements without compromising the effectiveness.1

Sources (1)

• [1]Joint-Angle Invariance of Jacobian-Based Performance Indices for Serial Robotic Manipulators
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 21, 11:04 AM

  This article investigates the joint-angle invariance (JAI) of Jacobian-based performance indices for serial robotic manipulators.

  We identify kinematic conditions under which representative performance indices, including manipulability, stiffness, and other Jacobian-derived indices, remain independent of the first and last joint angles.

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