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Goal Directed Design of Serial Robotic Manipulators

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dc.contributor.author Patel, Sarosh
dc.contributor.author Sobh, Tarek M.
dc.date.accessioned 2016-09-29T17:29:12Z
dc.date.available 2016-09-29T17:29:12Z
dc.date.issued 2014-04
dc.identifier.uri https://scholarworks.bridgeport.edu/xmlui/handle/123456789/1700
dc.description © ASEE 2014 en_US
dc.description.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 end-effector 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. en_US
dc.language.iso en_US en_US
dc.publisher ASEE en_US
dc.subject Global optimization en_US
dc.subject Reverse prototyping en_US
dc.subject Simulated annealing en_US
dc.subject Task-based design en_US
dc.title Goal Directed Design of Serial Robotic Manipulators en_US
dc.type Article en_US
dc.event.location Bridgeport, CT en_US
dc.event.name 2014 Zone 1 Conference of the American Society for Engineering Education en_US


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