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
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;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131643
