Homogenization of the Jacobian Matrix of Manipulators by Using Inertial Parameters

摘要

Based on the use of the inertial parameters of a platonic end-effector, in the present work a method is proposed to homogenize the Jacobian matrix of an industrial robotic manipulator. Two vectors associated with the kinetic energy of the end-effector are defined. Both vectors are functions of a modified Jacobian matrix, J~*, of the manipulator whose entries have all the same dimensions. Thus, the obtained homogenized matrix can be used to compute typical indices of performance of the manipulator with a clear physical meaning. Three case studies illustrate the usefulness of J~*.