제어로봇시스템학회:학술대회논문집
- 1992.10b
- /
- Pages.497-502
- /
- 1992
Framwork for task based design of robot manipulators
- Kim, Jin-Oh (The Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA, 15213) ;
- Khosla, Pradeep-K. (The Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA, 15213)
- Published : 1992.10.01
Abstract
In this paper, a new design technique called Task Based Design (TBD) is proposed to design an optimal robot manipulator for a given task. Optimal design of a manipulator is difficult because it involves implicit and highly nonlinear functions of many design variables for a complex task. TBD designs an optimal manipulator which performs a given task best, by using a framework called Progressive Design which decomposes the complexity of the task into three steps: kinematic design, planning and kinematic control. An example of TBD is presented to demonstrate the efficiency and effectiveness of our framework.
Keywords