DocumentCode
3222002
Title
A kinematic criterion for the 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
1991
fDate
9-11 Apr 1991
Firstpage
578
Abstract
A dexterity measure for the design evaluation and optimization of robot (redundant) manipulators is presented. It is shown that an upper bound for the condition number of the Jacobian matrix depends significantly on this measure. The proposed criterion has been applied (in an absolute fashion) to evaluate the kinematic dexterity and optimize each one of five different designs of a HERA arm as a redundant manipulator to be used in space operations
Keywords
aerospace control; control system synthesis; kinematics; optimisation; robots; HERA arm; Jacobian matrix; design optimization; dexterity measure; kinematic criterion; redundant manipulator; robot; space robotics; upper bound; Computational geometry; Design optimization; Jacobian matrices; Kinematics; Manipulators; Performance analysis; Robots; Software packages; Upper bound; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131643
Filename
131643
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