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Abstract: Mechanism Design for Global Isotropy with Applications to Haptic Interfaces
Mechanism Design for Global Isotropy with Applications to Haptic Interfaces
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.
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Abstract:
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.
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