Article

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

The study reveals the kinematic conditions under which Jacobian-based performance indices of serial robotic manipulators, such as manipulability and stiffness, are independent of the first and last joint angles, i.e., joint-angle invariance (JAI). This property systematically reduces the dimensionality of the effective configuration space and simplifies performance evaluation. In two scenarios, workspace performance map construction and task layout optimization, the JAI strategy reduces computational effort and storage requirements without compromising effectiveness. The work has been accepted to IROS 2026.

Part of the event: Study on Joint-Angle Invariance of Jacobian-Based Metrics for Serial Manipulators Accepted to IROS 2026

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