MANIPULATION
A kinematic design optimization of robot manipulators
René V. Mayorga, B. Ressa, Andrew K. C. Wong
- Year
- 2003
- Citations
- 13
Abstract
The authors present a kinematic measure of global performance for the design evaluation and optimization of robot (redundant) manipulators. The proposed criterion has been applied to optimize each of several different designs of a HERA arm as a redundant manipulator. The results obtained have shown the ability of the proposed approach to establish quantitative kinematic distinctions among a set of designs.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
KinematicsSet (abstract data type)Robot manipulatorManipulator (device)RobotComputer scienceMeasure (data warehouse)Robot kinematicsArtificial intelligenceControl engineering
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