Skip to main content
SpringerLink
Log in

Optimum Design of Closed Kinematic Chains in the Presence of Obstacles

  • Chapter
Recent Advances in Robot Kinematics

  • 363 Accesses

Abstract

The problem of optimum design of closed kinematic chains with one or more degrees of freedom and obstacles in the workspace is considered. An optimum design method with a penalty function embedding the collision control algorithm is developed. Several numerical examples which show the effectiveness of the proposed method are presented.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  • V. Cossalter, A. Doria, M. Pasini, C. Scattolo, A simple numerical approach for optimum synthesis of a class of planar mechanisms, Mech. Mach. Theory, Vol 27, No. 3, pp.357–366, 1992.

    Article  Google Scholar 

  • V. Cossalter, M. Da Lio, A. Doria, Optimum synthesis of spatial function generator mechanisms, Meccanica 28, pp 263–268, 1993.

    Article  MATH  Google Scholar 

  • S. Mitsi, K.D. Bouzakis, Simulation of redundant manipulator for collision avoidance in manufacturing and assembly environments, Mech. Mach. Theory, Vol 28, No. 1, pp. 13–21, 1993.

    Article  Google Scholar 

  • W.E. Red, H.V. Troung-Cao, K.H. Kim, Robot Path Planning in Three-Dimensions Using the Direct Subspace, Journal of Dynamic systems, Measurement, and Control, Vol. 109, pp 238–244, 1987.

    Article  MATH  Google Scholar 

  • Z. Shiller, Y.R. Gwo, Collision-Free Path Planning of Articulated Manipulators, Journal of Mechanical Design, Journal of Mechanical Design, Vol. 115, pp 901–908, 1993.

    Google Scholar 

  • IMSL Manual, Math/Library, Vol.8, Version 1.0, IMSL Inc., Houston, 1987.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Padova, Via Venezia 1, 35131, Padova, Italy

    A. Doria

Authors
  1. A. Doria
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. J. Stefan Institute, University of Ljubljana, Slovenia

    Jadran Lenarčič

  2. Department of Mechanical Engineering, University of Bologna, Italy

    Vincenzo Parenti-Castelli

Rights and permissions

Reprints and permissions

Copyright information

© 1996 Kluwer Academic Publishers

About this chapter

Cite this chapter

Doria, A. (1996). Optimum Design of Closed Kinematic Chains in the Presence of Obstacles. In: Lenarčič, J., Parenti-Castelli, V. (eds) Recent Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-009-1718-7_16

Download citation

  • DOI: https://doi.org/10.1007/978-94-009-1718-7_16

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-010-7269-4

  • Online ISBN: 978-94-009-1718-7

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation