Geometric optimization algorithims for robot kinematic design

DOI10.1002/ROB.4620120609zbMATH Open0862.70004OpenAlexW1994383193MaRDI QIDQ4834841FDOQ4834841

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

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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)

Cited In (11)

• Geometric design of spatial PRR manipulators
• Robot arm-wrist coordination. Part 2. Design guidelines
• Articulated mechanism design with a degree of freedom constraint
• Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance
• Arithmetic and geometric solutions for average rigid-body rotation
• Title not available (Why is that?)
• Title not available (Why is that?)
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• Screw theory tools for the synthesis of the geometry of a parallel robot for a given instantaneous task
• Topology of serial and parallel manipulators and topological diagrams
• Sub-chain symmetry approach for morphological choice of planar mechanisms in robotics

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