Title :
Elbow and elbow manipulators are optimal!
Author :
Paden, B. ; Sastry, S.
Author_Institution :
University of California, Berkeley, CA, USA
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;
Conference_Titel :
Decision and Control, 1985 24th IEEE Conference on
Conference_Location :
Fort Lauderdale, FL, USA
DOI :
10.1109/CDC.1985.268462
