A Formulation of Task Based Design of Robot Manipulators
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 2310 - 2317, July, 1993
Abstract
The authors discuss how to design a manipulator from a given task. While the ultimate goal is to design all kinematic and dynamic parameters of a manipulator, they consider only kinematic parameters. Optimal design of a manipulator even for a simple task is difficult because it involves a complex task description and constraints on possible manipulators and many design variables that lead to a combinatorial explosion. For the example of designing a space shuttle tile servicing robot, they introduce a formulation of a given task and manipulator constraints.
BibTeX
@conference{Kim-1993-13523,author = {Jin-Oh Kim and Pradeep Khosla},
title = {A Formulation of Task Based Design of Robot Manipulators},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1993},
month = {July},
volume = {3},
pages = {2310 - 2317},
}
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