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| HAL : hal-00145154, version 1 |
| arXiv : 0705.1150 |
| Fiche détaillée |  Récupérer au format |
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| Journal of Mechanism and Machine Theory (2002) 351-374 |
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| On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators |
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| Damien Chablat 1Jorge Angeles 2 |
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| Centre for Intelligent Machine Collaboration(s) |
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| (2002) |
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| Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix that is used as a reference model for purposes of performance evaluation. Applications of the index fall in the realm of design, but control applications are outlined. The paper focuses on planar manipulators, the basic concepts being currently extended to their three-dimensional counterparts. |
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| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| 2 : | Centre for Intelligent Machines (CIM) |
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McGill University |
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| Méthode de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| Serial mechanism – Optimization – Isotropic configuration – characteristic length |
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| Liste des fichiers attachés à ce document : | ||||||||||
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| hal-00145154, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00145154 | |
| oai:hal.archives-ouvertes.fr:hal-00145154 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mardi 8 Mai 2007, 18:50:01 | |
| Dernière modification le : Dimanche 15 Juillet 2007, 14:05:34 | |
