Abstract
This paper addresses the problem of designing a robotic mechanism or manipulator such that its end effector frame comes closest to reaching a set of desired goal frames. We formulate this non-linear problem as a distributed optimization problem, in which the kinematic parameters are computed to minimize the distance between the end-effector frame and each goal frame. A local objective function is defined with a Frobenius norm of the difference between current position and orientation and the goal frame. This norm must be expressed in a local frame in order to get the analytical and generic form of the dimensional or joint parameter which allows the minimization of the local objective function (i.e. the joint does one’s best). The main contribution of this paper is a distributed method for the kinematic design from task specification of all kinds of manipulators. The proposed methodology is illustrated with the synthesis of planar mechanisms and a 6-degrees-or-freedom manipulator.
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© 1997 Springer-Verlag Wien
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Regnier, S., Ouezdou, F.B., Bidaud, P. (1997). Distributed Kinematic Design from Task Specification. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) ROMANSY 11. International Centre for Mechanical Sciences, vol 381. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2666-0_14
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DOI: https://doi.org/10.1007/978-3-7091-2666-0_14
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82903-5
Online ISBN: 978-3-7091-2666-0
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