Statement of a Comprehensive Set of Kinetostatically Intrinsic Properties to Adimensionalize the Jacobian Matrix

This paper addresses the challenge of designing dimensionally consistent kinetostatical performance indexes for general noncommensurate robots. Existing methods lack explicit properties for their homogenizing factors (“characteristic length”), often relying on extrinsic data. In contrast, we propose a definition based on essential properties for fair kinetostatic weighting. While not specifying a unique expression, this definition sets criteria that current approaches don’t fully meet. We introduce a new expression meeting these criteria, validated through applications, demonstrating its consistency and competitiveness.