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Design optimization method using indices

Robotics Asked by hamedmh on November 28, 2021

There are several methods like manipulability and conditioning index for design optimization kinematics performance, but these methods rely on the singular values of the jacobian matrix. I described kinematics by screw theory using dual quaternion that is singularity-free. I need an index to optimize links length and think, I shouldn’t use manipulability and conditioning index for my purpose. What do you think???

One Answer

I think it is likely that you are confusing two uses of the word “singular”:

  1. The singular values of a matrix as found via singular value decomposition.
  2. The singular configurations (or singularities) that occur when the Jacobian loses rank.

Answered by RLH on November 28, 2021

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