Design Strategy of Serial Manipulators With Certified Constraint Satisfaction

This paper presents the design strategy of serial manipulators with constraint satisfaction. The algorithm provides certified solutions to the range of values of the manipulator design parameters that satisfy the given constraints for all points inside a desired workspace. Alternatively, it can also...

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Bibliographic Details
Published in:IEEE transactions on robotics 2009-02, Vol.25 (1), p.1-11
Main Authors: Oetomo, D., Daney, D., Merlet, J.-P.
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Algorithms
Anthropomorphism
Applied sciences
Certified workspace
Computer Science
Computer science
control theory
systems
Constraint optimization
Control theory. Systems
Couplings
Design
Displacement
Drives
Exact sciences and technology
interval analysis
Kinematics
Linkage mechanisms, cams
Manipulators
Mechanical engineering. Machine design
mechanism design
medical robots and systems
Robot arms
Robot sensing systems
Robotics
Robotics and automation
Robots
Robustness
Serials
Strategy
Topology
Work environment
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Summary:This paper presents the design strategy of serial manipulators with constraint satisfaction. The algorithm provides certified solutions to the range of values of the manipulator design parameters that satisfy the given constraints for all points inside a desired workspace. Alternatively, it can also be used to obtain the achievable workspace of a particular manipulator topology within which a set of given constraints are satisfied. This strategy can therefore be applied to the general case of a serial manipulator design problem, robots of adjustable parameters, or even reconfigurable robot strategy to obtain a suitable topology. The interval-based algorithm was implemented on an example serial anthropomorphic manipulator with joint displacement constraints and obtains the possible variations to the manipulator topology that allow the required workspace to be achievable under the given joint displacement constraints. Results are presented and discussed.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2008.2006867