• DocumentCode
    3063982
  • Title

    Elbow and elbow manipulators are optimal!

  • Author

    Paden, B. ; Sastry, S.

  • Author_Institution
    University of California, Berkeley, CA, USA
  • fYear
    1985
  • fDate
    11-13 Dec. 1985
  • Firstpage
    5
  • Lastpage
    11
  • Abstract
    We show that the elbow manipulators and their duals are the optimal designs for 6R manipulators. The performance measures used are those of work-volume and a property defined herein called well-connected-workspace. It is shown that a 6R manipulator, M, has maximal work-volume and a well-connected-workspace if and only if M or M* (its dual) is an elbow manipulator.
  • Keywords
    Axilla; Elbow; Fasteners; Kinematics; Laboratories; Manipulators; Optimal control; Robots;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1985 24th IEEE Conference on
  • Conference_Location
    Fort Lauderdale, FL, USA
  • Type

    conf

  • DOI
    10.1109/CDC.1985.268462
  • Filename
    4048226
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3063982