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operational polytop

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Velocity performance indices for parallel mechanisms with actuation redundancy
Sébastien Krut, Olivier Company, François Pierrot
Journal:

Robotica / Volume 22 / Issue 2 / March 2004

Published online by Cambridge University Press:

21 April 2004, pp. 129-139
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This paper analyses the concept of velocity isotropy for Parallel Mechanisms with Actuation Redundancy (PMAR). The limits of classical indices based on the Jacobean matrix condition number are shown. It is proposed to use either the largest ellipsoid included in the operational polytop, or the operational polytop itself, as better representations of a PMAR capabilities. The polytop is studied because it is actually the accurate representation of a machine capability, while the largest ellipsoid remains similar to the classical tool roboticists are dealing with for decades. Velocity performance indices are proposed, and the ways to compute them efficiently are given.