Linearization and optimization of robot dynamics via inertial parameter design.

*(English)*Zbl 0884.70006We introduce the concept of linearity number (LN) to measure the “linearity” of the equations of motion of a serial manipulator. This number is computable in closed-form and is an average quantitative index of the degree of linearity of the robot over a specified region in the joint space. The definition is flexible, allowing the user to create custom-made definitions according to his or her specific needs. Using the concept of LN and the developed computer package CADLOR, one can design the kinematic and/or inertial parameters of the robot such that the robot is completely linear (or as linear as possible) and obtain the corresponding equations of motion in closed form.

##### MSC:

70B15 | Kinematics of mechanisms and robots |

##### Keywords:

PUMA 560 type robot; linearity number; joint space; computer package CADLOR; equations of motion##### Software:

CADLOR
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\textit{R. Soylu} and \textit{A. Sarrafi}, J. Rob. Syst. 13, No. 8, 527--538 (1996; Zbl 0884.70006)

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##### References:

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