DocumentCode
3281102
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
fYear
1991
fDate
9-11 Apr 1991
Firstpage
334
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.132065
Filename
132065
Link To Document