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
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