Optimum architecture design of platform manipulators

Ma, Ou; Ángeles, Jorge

doi:10.1109/icar.1991.240404

Cited by 115 publications

(76 citation statements)

References 6 publications

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“…Ma et al [69] propose to divide the translational components by a so-called characteristic link length to remove this inhomogeneity. Still, this remains a heuristic solution to the problem of inhomogeneity and only defines a scaling between the rotation and translation.…”

Section: Characteristics Of the Manipulability Measurementioning

confidence: 99%

Knowledge Representations for Planning Manipulation Tasks

Zacharias

2012

Cognitive Systems Monographs

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A complex manipulation task for a robot has to be planned on different levels of abstraction before it can be executed on a real system. At a high-level of abstraction, a task planner generates a sequence of subtasks from a given abstract command, its pre-and postconditions and a current world model. To restrict the already huge search space of the task planner, aspects like geometric information are not contained in the world model at this level. The task planner then assigns the subtasks to planners on a lower level of abstraction like path planners or grasp planners. These planners rely on geometric information to compute their solutions. However, without considering geometric information the task planner cannot determine good parameters for these low-level planners. Therefore, the derived plans may not be valid for a given situation and may require backtracking. Knowledge representations can bridge the gap between these planning levels and thereby enable scene reasoning. The kinematic capabilities of a robot are one aspect the task planner has to be aware of. Therefore this thesis introduces a novel general representation of the kinematic capabilities of a robot arm. The versatile workspace is defined to describe in which orientations the end effector attached to a robot arm can reach a position. The capability map is a calculable representation of the versatile workspace that allows to determine how well regions of the workspace are reachable. It accurately represents the versatile workspace of arbitrary arm kinematics and enables autonomous taskspecific reasoning. Furthermore, its visualization scheme is intuitively comprehensible for the human. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, the capability map is used to objectively evaluate a bi-manual interface for tele-operation. The results can also supplement the design process for humanoid robot design. In low-level geometric planning, the capability map is used to reduce the search space and to parameterize path planners and grasp planners. Thus, in a manipulation task for a humanoid robot more human-like motion is planned while simultaneously the computation time is reduced. In high-level task reasoning, the capability map is used to evaluate how well a robot is suited for a task. In an example a humanoid robot has to perform a task involving 3D trajectories. Regions are extracted from the capability map that permit the task execution and the suitability of the robot is inferred.

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Section: Characteristics Of the Manipulability Measurementioning

confidence: 99%

Knowledge Representations for Planning Manipulation Tasks

Zacharias

2012

Cognitive Systems Monographs

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“…Then, characteristic length-based method [19] and characteristic point-based method [20] are investigated to formulate the dimensionally homogeneous Jacobian matrix. Recently, MA et al [21] and Liu et al [22] found that LCI values could converge when the index is applied to the translational parallel manipulator, which results in poor performance resolution. In addition, the LCI value is frame-related [23,24].…”

Section: Introductionmentioning

confidence: 99%

Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

Shao

Tang

et al. 2017

Chin. J. Mech. Eng.

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Performance index is the standard of performance evaluation, and is the foundation of both performance analysis and optimal design for the parallel manipulator. Seeking the suitable kinematic indices is always an important and challenging issue for the parallel manipulator. So far, there are extensive studies in this field, but few existing indices can meet all the requirements, such as simple, intuitive, and universal. To solve this problem, the matrix orthogonal degree is adopted, and generalized transmission indices that can evaluate motion/force transmissibility of fully parallel manipulators are proposed. Transmission performance analysis of typical branches, end effectors, and parallel manipulators is given to illustrate proposed indices and analysis methodology. Simulation and analysis results reveal that proposed transmission indices possess significant advantages, such as normalized finite (ranging from 0 to 1), dimensionally homogeneous, frame-free, intuitive and easy to calculate. Besides, proposed indices well indicate the good transmission region and relativity to the singularity with better resolution than the traditional local conditioning index, and provide a novel tool for kinematic analysis and optimal design of fully parallel manipulators.

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“…Some of Source: Industrial-Robotics-Theory-Modelling-Control, ISBN 3-86611-285-8, pp. 964, ARS/plV, Germany, December 2006, Edited by: Sam Cubero Open Access Database www.i-techonline.com the current industrial robots with planar chains have a structure created by the kinematic graphs of MMT (Manulescu et al 1987;Ma & Angeles, 1991). The morphological (topological) synthesis of kinematic chains has, for a long time, been the subject of many papers.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Design and Description of Industrial Robotic Chains

Mitrouchev

2006

Industrial Robotics: Theory, Modelling and Control

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Optimum architecture design of platform manipulators

Cited by 115 publications

References 6 publications

Knowledge Representations for Planning Manipulation Tasks

Knowledge Representations for Planning Manipulation Tasks

Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

Kinematic Design and Description of Industrial Robotic Chains

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