The statistical study of robot manipulators

Abstract

An approach to the analysis and design of robot manipulators based on a non-standard formulation of the modeling problem is presented. Usually, system descriptions are based on a set of differential equations which, due to their nature, lead to very precise results and strategies, but which, in general. require laborious computations. The proposed statistical method provides clear guidelines for robot kinematic and dynamic optimization. The results show the structural characteristics of the trajectory planning algorithm, as well as ideal-actuator properties.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>