Design Optimization of Serial Link Redundant Manipulator: An Approach Using Global Performance Metric

A master manipulator with a remote‐center‐of‐motion kinematic structure for a minimally invasive robotic surgical system

“…Therefore, the GCI is maximized to a value of one when the manipulator is well designed with a large isotropic configuration portion. However, the use of GCI using Equation imposes a limitation on closed‐form calculation because the condition number cannot be expressed analytically using the function of joints angles . Therefore, a numerical method using nodes with a regular space in the workspace or the Monte Carlo method, which generates random points, is commonly used .…”

“…imposes a limitation on closed-form calculation because the condition number cannot be expressed analytically using the function of joints angles. 33 Therefore, a numerical method using nodes with a regular space in the workspace or the Monte Carlo method, which generates random points, is commonly used. 34,35 By using numerical evaluation, the GCI is rewritten as follows:…”

Multifunctional Arm for Telerobotic Wind Turbine Blade Repair

“…In this study, we have used the forward and inverse kinematics of the 5R assembly explained in [10]. In order to find the end-effector's accessible areas, the arm's workspace is calculated using the Monte-Carlo method explained in [11] and forward kinematics [10], as shown in Fig. 3f.…”