Task Based Design of Serial Robotic Manipulators
Loading...
Authors
Patel, Sarosh
Sobh, Tarek M.
Issue Date
2014-03-28
Type
Presentation
Language
en_US
Keywords
Faculty research day , Engineering , Robotics , Manipulators , Task based design
Alternative Title
Abstract
Computing the optimal geometric structure of manipulators is one of the most intricate
problems in contemporary robot kinematics. Robotic manipulators are designed and built
to perform certain predetermined tasks. It is therefore important to incorporate such task
requirements during the design and synthesis of the robotic manipulators. Such task
requirements and performance constraints can be specified in terms of the required endeffector
positions, orientations along the task trajectory. In this work, we define, develop
and test a methodology that can generate optimal manipulator geometric structures
based on the task requirements. Another objective of this work is to guarantee task
performance under user defined joint constraints. Using this methodology, task-based
optimal manipulator structures can be generated that guarantee task performance under
set operating constraints