DocumentCode
2508192
Title
Singularity-free parameterization and performance analysis of actuation redundancy
Author
Ropponen, Timo ; Nakamura, Yoshihiko
Author_Institution
Dept. of Mech. Eng., Helsinki Univ. of Technol., Espoo, Finland
fYear
1990
fDate
13-18 May 1990
Firstpage
806
Abstract
A singularity-free parameterization is proposed that constantly allows full utilization of the actuation redundancy of a closed-link mechanism. The improvement due to the parameterization is numerically demonstrated. The advantage of actuation redundancy is investigated in the light of performance index minimization and maximum payload. The optimization of actuation redundancy is shown to result in significant improvement in both respects
Keywords
redundancy; robots; actuation redundancy; closed-link mechanism; maximum payload; performance analysis; performance index minimization; robot manipulators; singularity-free parameterization; Actuators; Couplings; Jacobian matrices; Lagrangian functions; Manipulator dynamics; Mechanical engineering; Payloads; Performance analysis; Robot kinematics; Tree data structures;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126087
Filename
126087
Link To Document