DocumentCode
3114408
Title
Harmonic maps and the optimal design of mechanisms
Author
Park, Frank C. ; Brockett, Roger W.
Author_Institution
Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
fYear
1989
fDate
13-15 Dec 1989
Firstpage
206
Abstract
Certain problems in the design and analysis of kinematic chains using the theory of harmonic maps are addressed. It is shown that this theory provides interesting results on the treatment of optimal geometries for both the redundant and nonredundant cases and provides a reliable numerical criterion for dexterity. Examples of simple manipulators illuminate the key features of the distortion measure introduced and suggest ways to address other issues arising in the design and analysis of mechanisms
Keywords
control system synthesis; kinematics; redundancy; robots; control system synthesis; design; dexterity; harmonic maps; kinematic chains; manipulators; robots; Art; Distortion measurement; Harmonic analysis; Humans; Jacobian matrices; Manipulators; Redundancy; Reliability theory; Robot kinematics; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location
Tampa, FL
Type
conf
DOI
10.1109/CDC.1989.70104
Filename
70104
Link To Document