Title :
Singularity-free parameterization and performance analysis of actuation redundancy
Author :
Ropponen, Timo ; Nakamura, Yoshihiko
Author_Institution :
Dept. of Mech. Eng., Helsinki Univ. of Technol., Espoo, Finland
Abstract :
A singularity-free parameterization is proposed that constantly allows full utilization of the actuation redundancy of a closed-link mechanism. The improvement due to the parameterization is numerically demonstrated. The advantage of actuation redundancy is investigated in the light of performance index minimization and maximum payload. The optimization of actuation redundancy is shown to result in significant improvement in both respects
Keywords :
redundancy; robots; actuation redundancy; closed-link mechanism; maximum payload; performance analysis; performance index minimization; robot manipulators; singularity-free parameterization; Actuators; Couplings; Jacobian matrices; Lagrangian functions; Manipulator dynamics; Mechanical engineering; Payloads; Performance analysis; Robot kinematics; Tree data structures;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126087
