New Performance Indices for 6 R Robots

  title={New Performance Indices for 6 R Robots},
  author={Georg Nawratil},
In this paper we introduce four new posture-dependent performance indices for control. Two of them are based on an object-oriented metric in the workspace (endeffector dependent) and the other on a linearized approximation of direct kinematics (end-effector independent). All newly defined indices are invariant under rigid-body motions and similarities, they have a geometric meaning, and they can be computed in real time. We also give a geometric interpretation of the characteristic length. 
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