The Jacobian matrix of a robot with both rotational and translational DOFs consists of entries have different units, which result in the difficulty to compute the dexterity measures of the robot. To solve this problem, a simple but effective method based on variable weighting matrix to normalize the Jacobian matrix is presented. The principles and disvantages of the traditional normalizing methods are analyzed, and based on the essence of robot dexterity, it is pointed out that the core problem of normalizi...
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