From: A computational method for key-performance-indicator-based parameter identification of industrial manipulators
Cost function
Average variance of KPI (mm 2 ): \(\boldsymbol{\frac{1}{3}\operatorname {tr}( {C}_{s})}\)
Heuristic
Optimized
\(\phi_{A}( {C}_{p})\)
0.61
0.39
0.43
\(\phi_{A}( {C}_{s})\)
0.33
0.35
Collision avoidance
-
No
Yes