DocumentCode
3182095
Title
A kinematic design optimization of robot manipulators
Author
Mayorga, R.V. ; Ressa, B. ; Wong, A.K.C.
Author_Institution
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
fYear
1992
fDate
12-14 May 1992
Firstpage
396
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
Keywords
kinematics; manipulators; optimisation; redundancy; HERA arm; design evaluation; global performance; kinematic design optimization; redundant manipulator; robot manipulators; Design optimization; Information analysis; Jacobian matrices; Kinematics; Manipulators; Performance analysis; Performance evaluation; Robots; Singular value decomposition; Upper bound;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220307
Filename
220307
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