First results on the design of high speed parallel robots in presence of uncertainty

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 2410-2415

  Ramdani, Nacim ^a,b   Gouttefarde, Marc ^b   Pierrot, François ^b   Merlet, Jean Pierre ^a  

^a INRIA   (France)

^b LIRMM   (France)

Author keywords

[No Author keywords available]

Indexed keywords

BOUNDED UNCERTAINTY; DESIGN PARAMETERS; DESIGN PROBLEMS; DESIGN PROCEDURE; GENERAL METHOD; INTERVAL ANALYSIS; NUMERICAL TOOLS; OPTIMIZATION TECHNIQUES; PARALLEL ROBOTS; PHYSICAL PARAMETERS;

INTELLIGENT ROBOTS;

MACHINE DESIGN;

EID: 69549110774     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4650905     Document Type: Conference Paper

References (15)

1. F. Hao and J.-P. Merlet, "Multi-criteria optimal design of parallel manipulators based on interval analysis," Mechanism and Machine Theory, vol.40, pp. 157-171, 2005. (Pubitemid 40061222)
2. I. Das and J. Dennis, "A closer look at drawbacks of minimizing weighted sums of objectives for pareto set generation in multicriteria optimization problem," Structural Optimization, vol.14, pp. 63-69, 1997. (Pubitemid 127676980)
3. K. Nagai, M. Matsumoto, K. Kimura, and B. Masuhara, "Development of parallel manipulator ninja with ultra-high acceleration," in IEEE Int. Conf. on Robotics and Automation (ICRA 2003), Taipei, Taiwan, 2003, pp. 3678-3685.
4. R. Clavel, "Delta, a fast robot with parallel geometry," in 18th International Symposium on Industrial Robots, IFS Publications, Lausanne, Switzerland, 1988, pp. 91-100.
5. F. Pierrot and O. Company, "H4: a new family of 4-dof parallel robots," in IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 1999), Atlanta, USA, 1999, pp. 508-513. (Pubitemid 30502589)
6. K. Miller, "Optimal design and modeling of spatial parallel manipulators," Int. J. Robotics Research, vol.23, pp. 127-140, 2004.
7. V. Nabat, M. Rodriguez, O. Company, F. Pierrot, and P. Dauchez, "Very fast schoenflies motion generator," in IEEE Int. Conf. on Industrial Technology (ICIT 2005), 2005, pp. 365-370.
8. O. Company, S. Krut, and F. Pierrot, "Internal singularity analysis of a class of lower mobility parallel manipulators with articulated traveling plate," IEEE Tran. on Robotics, vol.22, no.1, pp. 1-11, 2006. (Pubitemid 43245251)
9. S. Kawamura, W. Choe, S. Tanaka, and S. Pandian, "Development of an ultrahigh speed robot falcon using wire drive system," in IEEE Int. Conf. on Robotics and Automation (ICRA 1995), Nagoya, Japan, 1995, pp. 215-220.
10. K. Maeda, S. Tadokoro, T. Takamori, M. Hiller, and R. Verhoeven, "On design of a redundant wire-driven parallel robot warp manipulator," in IEEE Int. Conf. on Robotics and Automation (ICRA 1999), Detroit, USA, 1999, pp. 895-900.
11. S. Behzadipour and A. Khajepour, "Design of reduced dof parallel cable-based robots," Mech. and Mach. Theory, vol.39, pp. 1051-1065, 2004.
12. R. Moore, Interval Analysis. Englewood Cliffs: Prentice-Hall, 1966.
13. A. Neumaier, Interval methods for systems of equations. Cambridge: Cambridge university press, 1990.
14. E. Hansen and G. Walster, Global optimization using interval analysis, 2nd ed. Marcel Dekker, 2004.
15. J.-P. Merlet, "Alias - an algorithms library of interval analysis for equation systems," COPRIN Project, INRIA. Available: http://wwwsop.inria.fr/coprin/logiciels/ALIAS/.