Mechanism Design for Global Isotropy with Applications to Haptic Interfaces
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Leo J. Stocco
Septimiu E. Salcudean
Farrokh Sassani
Proceedings of the 1997 International Mechanical Engineering Congress and Exhibition, DSC-Vol. 61, pp. 115-122.
1997 ASME
http://www.ee.ubc.ca/~leos/ps/asme97.ps
A new global isotropy index (GII) is proposed to quantify the
configuration independent isotropy of a robot's Jacobian or mass
matrix. The matrix is scaled to homogenize the physical units, to
tailor it to the demands of the application and to choose optimum
actuator parameters. A new discrete global optimization algorithm is
also proposed to optimize the GII without placing any conditions on
the objective function. The algorithm is used to establish design
guidelines and a globally optimum architecture for a planar haptic
interface from both a kinematic and dynamic perspective and to compare
three robots for use as a 5-DOF haptic pen. The algorithm demonstrates
consistent effort reductions of up to six orders of magnitude over
global searching with low sensitivity to initial conditions.