TY - GEN
T1 - Design of robotic manipulators for optimal dynamic performance
AU - Shiller, Zvi
AU - Sundar, Satish
PY - 1991
Y1 - 1991
N2 - Design methods of robotic manipulators to select the link lengths and actuator sizes for minimum-time motions along specified paths are presented. An exact method is based on a parameter optimization, using the motion time along the path as the cost function. This method serves as a benchmark for a more efficient approximation which selects system parameters so as to maximize acceleration along the path. Examples of the design of a two-link manipulator are presented, demonstrating close correlation between the exact and the approximate methods.
AB - Design methods of robotic manipulators to select the link lengths and actuator sizes for minimum-time motions along specified paths are presented. An exact method is based on a parameter optimization, using the motion time along the path as the cost function. This method serves as a benchmark for a more efficient approximation which selects system parameters so as to maximize acceleration along the path. Examples of the design of a two-link manipulator are presented, demonstrating close correlation between the exact and the approximate methods.
UR - http://www.scopus.com/inward/record.url?scp=0025754485&partnerID=8YFLogxK
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AN - SCOPUS:0025754485
SN - 081862163X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 344
EP - 349
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - Proceedings of the 1991 IEEE International Conference on Robotics and Automation
Y2 - 9 April 1991 through 11 April 1991
ER -