New performance indices for 6R robots

DOI10.1016/J.MECHMACHTHEORY.2006.12.007zbMATH Open1126.70304OpenAlexW2051298648MaRDI QIDQ2385807FDOQ2385807

Authors: Georg Nawratil 

Publication date: 15 October 2007

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2006.12.007

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zbMATH Keywords

distance measurecharacteristic lengthperformance index\(6R\) robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cited In (4)

• A new algorithm for measuring and optimizing the manipulability index
• New performance indices for 6-dof UPS and 3-dof RPR parallel manipulators
• Guaranteed collision detection with toleranced motions
• Generalized penetration depth computation based on kinematical geometry

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