Title:
An Approach for Mapping Kinematic Task Specifications Into a Manipulator Design
An Approach for Mapping Kinematic Task Specifications Into a Manipulator Design
| dc.contributor.author | Paredis, Christiaan J. J. | |
| dc.contributor.author | Khosla, Pradeep K. | |
| dc.contributor.corporatename | Georgia Institute of Technology. The Systems Realization Laboratory | |
| dc.contributor.corporatename | Carnegie-Mellon University. Robotics Institute | |
| dc.contributor.corporatename | Carnegie-Mellon University. Dept. of Electrical and Computer Engineering | |
| dc.date.accessioned | 2010-05-25T21:36:39Z | |
| dc.date.available | 2010-05-25T21:36:39Z | |
| dc.date.issued | 1991 | |
| dc.description | This paper was presented at the Fifth International Conference on Advanced Robotics, Pisa, Italy. 556-561. The definitive article is located at http://www.ieeexplore.ieee.org (DOI: 10.1109/ICAR.1991.240594). © IEEE. | en_US |
| dc.description.abstract | The Reconfigurable Modular Manipulator System, (RMMS) consists of modular links and joints which can be assembled into many manipulator configurations. This capability allows the RMMS to be rapidly reconfigured in order to custom tailor it to specific tasks. An important issue, related to the RMMS, is the determination of the optimal manipulator reconfiguration for a specific task. In this paper, we address the problem of mapping kinematic task specifications into a kinematic manipulator configuration. For the design of 2 degrees-of-freedom planar manipulators, an analytical solution is derived. Since, for problems with more than 2 design parameters, analytical solutions become impractical, we have developed a numerical approach for the design of 6 degrees-of-freedom manipulators. | en_US |
| dc.description.sponsorship | Department of Energy (Grant #DE-FG02-89ERl4042) | en_US |
| dc.description.sponsorship | Carnegie Mellon University | |
| dc.description.sponsorship | Belgian American Educational Foundation | |
| dc.identifier.citation | Paredis, C. J. J. and Khosla, P. K. (1991) "An Approach for Mapping Kinematic Task Specifications into a Manipulator Design." in Proceedings of the Fifth International Conference on Advanced Robotics, Pisa, Italy. 556-561. | en_US |
| dc.identifier.issn | 0780300785 | |
| dc.identifier.uri | http://hdl.handle.net/1853/33333 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | IEEE | |
| dc.subject | Kinematics | en_US |
| dc.subject | Manipulators | en_US |
| dc.subject | Reconfigurable modular manipulator system | en_US |
| dc.subject | Degrees of freedom | en_US |
| dc.title | An Approach for Mapping Kinematic Task Specifications Into a Manipulator Design | en_US |
| dc.type | Text | |
| dc.type.genre | Paper | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
| local.contributor.corporatename | College of Engineering | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 |