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Información general |
| Autor |
Ceccarelli, Marco |
| Publicado |
Troia, 1993
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| Edición |
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| Extensión |
16 pages
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| ISBN |
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| Abstract |
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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