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Optimal Design and Location of Manipulators
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Allgemeine Angaben
Autor Ceccarelli, Marco
Erschienen  Troia, 1993
Ausgabe  
Umfang  16 pages
ISBN
Kurzbeschreibung In this paper, the design problem of manipulators is formulated as an optimization problem by using a suitable algebraic formulation for the workspace boundary.
The problem of the manipulator design is approached through an optimization formulation from a kinematic point of view for positioning tasks. The design variables are discussed including the location and the orientation of the robot base through suitable parameters which arc congruent with the link
parameters of the manipulator chain. A manipulator global length is defined as an objective function, since it may also take into account some workspace and inertial properties. Therefore, suitable procedures for the optimization problem are proposed. Some further considerations on optimal design procedures are developed by properly using an algebraic formulation for the manipulator workspace.
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Zeitschriftenartikel
1950-1999
Permanentlinks
DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=23668009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_23668009.html
Datenbereitsteller
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Verwaltungsinformationen
Publikationsdatum 1993

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