Abstract
This article investigates the design of redundant mechanisms for improved dynamic performance. Our study has resulted in a new methodology which allows the decomposition of the design problem into smaller, more manageable problems. With this method, a redundant mechanism is subdivided into a chain of non-redundant subsystems which can be designed separately. The result is a highly efficient design process.
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Khatib, O. and Bowling, A.: Optimization of the Inertial and Acceleration Characteristics of Manipulators, IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 1996.
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© 1996 Kluwer Academic Publishers
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Bowling, A., Khatib, O. (1996). Modular Decomposition for Optimal Dynamic Design of Redundant Macro/Mini Manipulators. In: Lenarčič, J., Parenti-Castelli, V. (eds) Recent Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-009-1718-7_3
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DOI: https://doi.org/10.1007/978-94-009-1718-7_3
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-7269-4
Online ISBN: 978-94-009-1718-7
eBook Packages: Springer Book Archive