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
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;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220307
