ON THE USE OF METRIC-DEPENDENT METHODS IN ROBOTICS

摘要

It is little known that the popular application of generalized inverses, singular value decomposition, conditioning numbers, and grasp and motion measures to many robotics problems involves the addition of different physical units. To redefine such techniques for proper use, meaningful screw scalar products must be used. The paper studies the use of both frame dependent positive-definite metrics and invariant, indefinite or degenerate, screw products for this purpose. Special attention is given to the diagonalization of the Jacobian matrix.