A general approach for optimal kinematic design of parallel manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 4, 2004, Pages 3659-3664

  Lou, Yunjiang ^a   Liu, Guanfeng ^a   Xu, Jijie ^a   Li, Zexiang ^a  

^a HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; KINEMATICS; LINEAR CONTROL SYSTEMS; MATRIX ALGEBRA; MONTE CARLO METHODS; OPTIMIZATION;

GLOBAL ISOTROPY INDICES (GII); LINEAR MATRIX INEQUALITIES (LMI); MAX-DET FUNCTIONS; PARALLEL MANIPULATORS;

MANIPULATORS;

EID: 3042688759     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1308827     Document Type: Conference Paper

References (14)

1. C. Gosselin and J. Angeles. The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator. ASME Journal of mechanisms, Transmissions, and Automation in Design, 110, 1988.
2. C. Gosselin and J. Angeles. The optimum kinematic design of a spherical three-dof-of-freedom parallel manipulator. ASME Journal of mechanisms, Transmissions, and Automation in Design, 111, 1989.
3. R.E. Stamper, L.W. Tsai, and G.C. Walsh. Optimization of a three dof translational platform for well-conditioned workspace. In Proceedings of IEEE International Conference on Robotics and Automation, pages 3250-3255, 1997.
4. L. W. Tsai and S. Joshi. Kinematics and optimization of a spatial 3-upu parallel manipulator. ASME Journal of Mechanical Design, 122(4):439-446, 2000.
5. L. J. Stocco, S. E. Salcudean, and F. Sassani. Optimal kinematic design of a haptic pen. IEEE/ASME Transactions on Mechatronics, 6(3):210-220, Sep. 2001.
6. F. Park and R. Brockett. Kinematic dexterity of robotic mechanisms. International Journal of Robotics Research, 13:1-15, 1994.
7. C. Gosselin and J. Angeles. A global performance index for the kinematic optimization of robotic manipulators. ASME Journal of Mechanical Design, 113:220-226, 1991.
8. Y.J. Lou, G.F. Liu, and Z.X. Li. Optimal design of parallel manipulator via LMI approach. In Proceedings of IEEE International Conference on Robotics and Automation, pages 1869-1874, 2003.
9. J.K. Salisbury and J. Craig. Articulated hands: Force control and kinematic issues. International Journal of Robotics Research, Vol. 1(1):4-17, 1982.
10. J.M.Selig. Curvature in force/position control. In Proceedings of IEEE International Conference on Robotics and Automation, pages 1761-1766, 1998.
11. G.F. Liu and Z.X. Li. A unified approach to modeling and control of constrained mechanical systems. IEEE Transactions on Robotics and Automation, 18(4), 2002.
12. U. Helmke, K. Hueper, and J.B. Moore. Quadratically convergent algorithms for optimal dextrous hand grasping. IEEE Transactions on Robotics and Automation, 18(2):138-146, 2002.
13. U. Helmke and J. Moore. Optimization of dynamical systems. Springer-Verlag, 1993.
14. Y. Nesterov and A. Nemirovsky. Interior-Point Polynominal Methods in Convex Programming. Vo. 13 of Studies in App. Math., SIAM, 1994.