The Role of Inertia Sensitivity in the Evaluation of Manipulator Performance

[+] Author and Article Information
G. J. Wiens

Mechanical Engineering Department, Auburn University, Auburn, AL 36849-5341

R. A. Scott

Department of Mechanical Engineering and Applied Mechanics, The University of Michigan, Ann Arbor, MI 48109-2125

M. Y. Zarrugh

Mechanical Technology, Schlumberger Well Services, Houston, TX 77210-4594

J. Dyn. Sys., Meas., Control 111(2), 194-199 (Jun 01, 1989) (6 pages) doi:10.1115/1.3153036 History: Received October 04, 1986; Revised July 22, 1988; Online July 21, 2009


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.

Copyright © 1989 by ASME
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