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Elbow and elbow manipulators are optimal!

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2 Author(s)
Paden, B. ; University of California, Berkeley, CA, USA ; Sastry, S.

We show that the elbow manipulators and their duals are the optimal designs for 6R manipulators. The performance measures used are those of work-volume and a property defined herein called well-connected-workspace. It is shown that a 6R manipulator, M, has maximal work-volume and a well-connected-workspace if and only if M or M* (its dual) is an elbow manipulator.

Published in:

Decision and Control, 1985 24th IEEE Conference on

Date of Conference:

11-13 Dec. 1985