关于平面上各向同性点集。在机器人结构设计中的应用
On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures
摘要：
各种性能指标用于设计的串行机械手。一种优化方法依赖于雅可比矩阵的条件数。在某些条件下，条件数的最小化导致各向同性配置，对于该配置，舍入误差放大最低。在本文中，各向同性的条件，介绍了其他地方，背后的动机介绍各向同性的点集。通过将这些点连接在一起，我们定义了各向同性操纵器族。本文致力于平面机械手，目前正在扩展到他们的空间同行的概念。此外，这里只考虑具有转动关节的机械手。
英文摘要：
Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number leads, under certain conditions, to isotropic configurations, for which the roundoff-error amplification is lowest. In this paper, the isotropy conditions, introduced elsewhere, are the motivation behind the introduction of isotropic sets of points. By connecting together these points, we define families of isotropic manipulators. This paper is devoted to planar manipulators, the concepts being currently extended to their spatial counterparts. Furthermore, only manipulators with revolute joints are considered here.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
