Title :
Design of robotic manipulators for optimal dynamic performance
Author :
Shiller, Zvi ; Sundar, Satish
Author_Institution :
Dept. of Mech., Aerosp. & Nucl. Eng., California Univ., Los Angeles, CA, USA
Abstract :
Design methods of robotic manipulators to select the link lengths and actuator sizes for minimum-time motions along specified paths are presented. An exact method is based on a parameter optimization, using the motion time along the path as the cost function. This method serves as a benchmark for a more efficient approximation which selects system parameters so as to maximize acceleration along the path. Examples of the design of a two-link manipulator are presented, demonstrating close correlation between the exact and the approximate methods
Keywords :
control system synthesis; optimal control; optimisation; robots; cost function; design; link lengths; manipulators; maximum acceleration; minimum-time motions; optimal control; optimal dynamic performance; parameter optimization; robots; sizes; Acceleration; Actuators; Aerodynamics; Aerospace engineering; Cost function; Design engineering; Design methodology; Manipulator dynamics; Optimization methods; Robots;
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.1991.132065
