DocumentCode
137606
Title
On the performance evaluation and analysis of general robots with mixed dofs
Author
Shayya, Samah ; Krut, Sebastien ; Company, Olivier ; Baradat, Cedric ; Pierrot, Francois
Author_Institution
Tecnalia France, Montpellier, France
fYear
2014
fDate
14-18 Sept. 2014
Firstpage
490
Lastpage
497
Abstract
This paper deals with the kinetostatic performance evaluation regarding translational and rotational motions of general robots with mixed operational degrees of freedom (dofs). Also, robots with different types of actuators can be analyzed based on the same approach without any problem. Besides, the generality of the approach embraces serial, parallel, actuatedly or kinematically redundant robots. The paper seeks clarifying the issue and providing a relevant solution. It also clarifies some other useful points in this matter.
Keywords
motion control; robot kinematics; general robots; kinematically redundant robots; kinetostatic performance evaluation; mixed DoF; mixed operational degrees of freedom; rotational motions; translational motions; Actuators; Force; Jacobian matrices; Joints; Redundancy; Robots; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location
Chicago, IL
Type
conf
DOI
10.1109/IROS.2014.6942604
Filename
6942604
Link To Document