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A kinematic design optimization of robot manipulators

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3 Author(s)
Mayorga, R.V. ; Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada ; Ressa, B. ; Wong, A.K.C.

The authors present a kinematic measure of global performance for the design evaluation and optimization of robot (redundant) manipulators. The proposed criterion has been applied to optimize each of several different designs of a HERA arm as a redundant manipulator. The results obtained have shown the ability of the proposed approach to establish quantitative kinematic distinctions among a set of designs

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992

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