Comparative study of performance indices for fundamental robot manipulators

Robotics and Autonomous Systems

Volumn 54, Issue 7, 2006, Pages 567-573

  Kucuk, Serdar ^a   Bingul, Zafer ^a  

^a KOCAELI UNIVERSITY   (Turkey)

Author keywords

Condition number; Fundamental robot manipulators; GCI; Manipulability measure; Structural length index; Workspace optimization

Indexed keywords

AUTONOMOUS AGENTS; MANIPULATORS; OPTIMIZATION;

CONDITION NUMBER; FUNDAMENTAL ROBOT MANIPULATORS; GCI; MANIPULABILITY MEASURE; STRUCTURAL LENGTH INDEX; WORKSPACE OPTIMIZATION;

ROBOTICS;

EID: 33745727037     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2006.04.002     Document Type: Article

References (17)

1. Huang B., and Milenkovic V. Kinematics of major robot linkages. Robotics International of SME 2 (1983) 16-31
2. Yoshikawa T. Manipulability of robotic mechanism. The International Journal of Robotics Research 4 2 (1985) MIT Press
3. Salisbury J.K., and Craig J.J. Articulated hands: Force control and kinematics issues. The International Journal of Robotics Research 1 (1982) 4-17
4. Gosselin C., and Angeles J. A global performance index for the kinematics optimization of robotic manipulators. Journal of Mechanical Design 113 September (1991) 220-223
5. Pusey J., Fattah A., Agrawal S., and Messina A. Design and workspace analysis of a 6-6 cable-suspended parallel robot. Mechanism and Machine Theory 39 (2004) 761-778
6. Pashkevich A., Wenger P., and Chablat D. Design strategies for the geometric synthesis of orthoglide-type mechanism. Mechanism and Machine Theory 40 (2005) 907-930
7. Yang D.C.H., and Lee T.W. Heuristic combinatorial optimization in the design of manipulator workspace. IEEE Transactions on Systems, Man and Cybernetics SMC 14 4 (1984) 571-580
8. Yanga G., and Chenb I.M. Task-based optimization of modular robot: Minimized degree-of-freedom approach. Mechanism and Machine Theory 35 (2000) 517-540
9. F. Chapelle, P. Bidaud, Evaluation functions synthesis for optimal design of hyper-redundant robotic system, Mechanism and Machine Theory (in press)
10. Ceccarelli M., and Lanni C. A multi-objective optimum design of general 3R manipulators for prescribed workspace limits. Mechanism and Machine Theory 39 (2004) 119-132
11. Freudenstein C.D.L. Optimization of the workspace of a three-revolute open chain manipulators. International Journal of Robotics Research 5 1 (1986) 104-111
12. Powell M.J.D. A fast algorithm for nonlinearly constrained optimization calculations. In: Watson G.A. (Ed). Numerical Analysis. Lecture Notes in Mathematics vol. 630 (1978), Springer Verlag
13. Waldron K. Design of arms. In: Dorf R., and Nof S. (Eds). The International Encyclopedia of Robotics (1988), John Wiley and Sons
14. Strang G. Linear Algebra and its Applications (1976), Academic Press, New York
15. J. Angeles, C. Lopez-Cajun, The dexterity index of serial-type robotic manipulators, in: ASME Trends and Developments in Mechanisms, Machines and Robotics, 1988, pp. 79-84
16. Ali{dotless}ci{dotless} G. An inverse position analysis of five-bar planar parallel manipulators. Robotica 20 (2002) 195-201
17. X.J. Liu, J. Wang, G. Pritschow, On the optimal kinematic design of the PRRRP 2-Dof parallel mechanism, Mechanism and Machine Theory (in press)