Fast constrained global minimax optimization of robot parameters

A new global isotropy index (GII) is proposed to quantify the configuration independent isotropy of a robot's Jacobian or mass matrix. A new discrete global optimization algorithm is also proposed to optimize either the GII or some local measure without placing any conditions on the objective function. The algorithm is used to establish design guidelines and a globally optimal architecture for a planar haptic interface from both a kinematic and dynamic perspective and to choose the optimum geometry for a 6-DOF Stewart Platform. The algorithm demonstrates consistent effort reductions of up to six orders of magnitude over global searching with low sensitivity to initial conditions.