Design of robotic manipulators for optimal dynamic performance
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
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.Keywords
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