| contributor author | C. Gosselin | |
| contributor author | J. Angeles | |
| date accessioned | 2017-05-08T23:33:09Z | |
| date available | 2017-05-08T23:33:09Z | |
| date copyright | December, 1990 | |
| date issued | 1990 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27585#494_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/107209 | |
| description abstract | In this paper, the kinematic inversion of redundant parallel manipulators in the presence of incompletely specified tasks is formulated as an optimization problem. The performance index used is the condition number of the Jacobian matrix of the manipulator which is a measure of Jacobian invertibility. In order to optimize this index along a partially prescribed Cartesian trajectory, the concept of trajectory map is introduced. It is also shown that the optimum value of the free parameter that minimizes the condition number is not a continuous function of the prescribed Cartesian coordinates. An on-line algorithm producing continuous joint histories is then discussed. This method has been implemented and tested, as illustrated with the results presented here. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Kinematic Inversion of Parallel Manipulators in the Presence of Incompletely Specified Tasks | |
| type | Journal Paper | |
| journal volume | 112 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2912637 | |
| journal fristpage | 494 | |
| journal lastpage | 500 | |
| identifier eissn | 1528-9001 | |
| keywords | Manipulators | |
| keywords | Trajectories (Physics) | |
| keywords | Algorithms | |
| keywords | Optimization | |
| keywords | Jacobian matrices AND Redundant manipulators | |
| tree | Journal of Mechanical Design:;1990:;volume( 112 ):;issue: 004 | |
| contenttype | Fulltext | |
