Optimizing the location of assembly tasks in a manipulator's workspace

DOI10.1002/rob.4620070602zbMath0708.70036OpenAlexW2015128633MaRDI QIDQ3491088

Max Donath, Brad Nelson

Publication date: 1990

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620070602

zbMATH Keywords

gradient function of manipulabilitymanipulability functionmodified method of the steepest descent optimization procedurenonredundant manipulatorOff-line programming of robotic workcells

Mathematics Subject Classification ID

Application models in control theory (93C95) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (2)

Optimizing the location of assembly tasks in a manipulator's workspace ⋮ Multi-objective path placement optimization of parallel kinematics machines based on energy consumption, shaking forces and maximum actuator torques: application to the orthoglide

Uses Software

• MACSYMA
• LINPACK

Cites Work

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• Optimizing the location of assembly tasks in a manipulator's workspace
• The singular value decomposition: Its computation and some applications

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