DocumentCode
1864888
Title
Optimum design of manipulators under dynamic isotropy conditions
Author
Ma, Ou ; Angeles, Jorge
Author_Institution
Spar Aerospace Ltd., Brampton, Ont., Canada
fYear
1993
fDate
2-6 May 1993
Firstpage
470
Abstract
The optimum design of manipulator architectures under dynamic isotropy conditions is addressed. The goal of the design is to choose the kinematic and inertial parameters of manipulators such that their generalized inertia matrices can attain values as close to isotropy as possible. Two design examples are given. One pertains to a three-degree-of-freedom serial manipulator, and the other to a platform parallel manipulator
Keywords
control system synthesis; dynamics; kinematics; manipulators; architectures; dynamic isotropy conditions; inertial parameters; kinematic; manipulators; optimum design; robots; Acceleration; Aerodynamics; Aerospace engineering; Airports; Ellipsoids; Equations; Gravity; Kinematics; Kinetic energy; Manipulator dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292024
Filename
292024
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