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Joint-Angle Invariance of Jacobian-Based Performance Indices for Serial Robotic Manipulators

2026-10-21 11:04:15
Yaohua Zhou, Mingdao Lin, Jiayu Song, Xixin Zhao, Haidong Huang, Jiahu Qin, Xiaocong Li
arXiv_RO
       
Abstract

This article investigates the joint-angle invariance (JAI) of Jacobian-based performance indices for serial robotic manipulators. We identify kinematic conditions under which representative performance indices, including manipulability, stiffness, and other Jacobian-derived indices, remain independent of the first and last joint angles. This property allows a systematic reduction in the effective configuration-space dimensionality, thereby simplifying the performance evaluation. The utility of JAI is demonstrated through two application scenarios: workspace performance map construction and task layout optimization. Comparative results show that the proposed JAI-based strategy reduces computational effort and storage requirements without compromising the effectiveness.

Abstract (translated)

URL

https://arxiv.org/abs/2610.29570

PDF

https://arxiv.org/pdf/2610.29570.pdf

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