Geometric optimization algorithims for robot kinematic design

DOI10.1002/ROB.4620120609MaRDI QIDQ4834841zbMATH OpenOpenAlexFDO

Authors Frank Chongwoo Park, J. E. Bobrow

Publication date 12 June 1995

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620120609

zbMATH Keywords

objective functionrigid body guidanceanalytic gradientbase positioning of two cooperating robotsend-effector frame

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Design techniques (robust design, computer-aided design, etc.) (93B51)

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• Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance
• Sub-chain symmetry approach for morphological choice of planar mechanisms in robotics
• Synergetic structure-control design via a hybrid gradient-evolutionary algorithm
• Robot arm-wrist coordination. Part 2. Design guidelines
• Screw theory tools for the synthesis of the geometry of a parallel robot for a given instantaneous task
• Complexity analysis for the conceptual design of robotic architecture
• Geometric design of spatial PRR manipulators
• Topology of serial and parallel manipulators and topological diagrams

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