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Optimal design and path planning of redundant manipulators for constrained environments| old_uid | 7865 |
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| title | Optimal design and path planning of redundant manipulators for constrained environments |
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| start_date | 2009/12/17 |
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| schedule | 14h-16h |
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| online | no |
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| summary | Development of customized robotic manipulators is an integral part of the increasing applications of automation in almost every field. This work reports a systematic procedure for the complete design of serial redundant manipulators for any given workcell. It focuses on the challenges of working with redundant degrees-of-freedom and presents the entire design process in four major modules. The first part deals with the synthesis of a robotic manipulator for a given cluttered
environment to work at the specified task space locations. Optimal path planning of the manipulator between the required locations and the inverse kinematics problem of serial redundant manipulators is dealt in next two modules. The fourth module presents a posteriori analysis of the synthesized manipulator with respect to the desired working locations. |
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| responsibles | <not specified> |
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