Name
Abstract | ||
|---|---|---|
The authors discuss how to design a manipulator from a given task. While the ultimate goal is to design all kinematic and dynamic parameters of a manipulator, they consider only kinematic parameters. Optimal design of a manipulator even for a simple task is difficult because it involves a complex task description and constraints on possible manipulators and many design variables that lead to a combinatorial explosion. For the example of designing a space shuttle tile servicing robot, they introduce a formulation of a given task and manipulator constraints |
Year | DOI | Venue |
|---|---|---|
1993 | 10.1109/IROS.1993.583948 | Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference |
Keywords | Field | DocType |
manipulators,dynamic,kinematic,kinematic parameters,manipulator,manipulators,robot manipulators,task based design | Parallel manipulator,Kinematics,Robot calibration,Inverse kinematics,Computer science,Control theory,Robot kinematics,Robot end effector,Control engineering,Combinatorial explosion,Mobile manipulator | Conference |
Volume | ISBN | Citations |
3 | 0-7803-0823-9 | 3 |
PageRank | References | Authors |
0.53 | 4 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jinoh Kim | 1 | 416 | 44.15 |
| Khosla, P.K. | 2 | 931 | 123.84 |