contributor author | A. B. Kyatkin | |
contributor author | G. S. Chirikjian | |
date accessioned | 2017-05-09T00:00:32Z | |
date available | 2017-05-09T00:00:32Z | |
date copyright | March, 1999 | |
date issued | 1999 | |
identifier issn | 1050-0472 | |
identifier other | JMDEDB-27658#9_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/122625 | |
description abstract | In this paper we apply the Fourier transform on the Euclidean motion group to solve problems in kinematic design of binary manipulators. In recent papers it has been shown that the workspace of a binary manipulator can be viewed as a function on the motion group, and it can be generated as a generalized convolution product. The new contribution of this paper is the numerical solution of mathematical inverse problems associated with the design of binary manipulators. We suggest an anzatz function which approximates the manipulator’s density in analytical form and has few free fitting parameters. Using the anzatz functions and Fourier methods on the motion group, linear and non-linear inverse problems (i.e., problems of finding the manipulator’s parameters which produce the total desired workspace density) are solved. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Synthesis of Binary Manipulators Using the Fourier Transform on the Euclidean Group | |
type | Journal Paper | |
journal volume | 121 | |
journal issue | 1 | |
journal title | Journal of Mechanical Design | |
identifier doi | 10.1115/1.2829438 | |
journal fristpage | 9 | |
journal lastpage | 14 | |
identifier eissn | 1528-9001 | |
keywords | Fourier transforms | |
keywords | Manipulators | |
keywords | Motion | |
keywords | Design | |
keywords | Density | |
keywords | Inverse problems | |
keywords | Fittings AND Functions | |
tree | Journal of Mechanical Design:;1999:;volume( 121 ):;issue: 001 | |
contenttype | Fulltext | |