Task Oriented Design of Robot Kinematics using Grid Method

Abstract

This paper presents a Task Oriented Design method for robot kinematics based on grid method, widely used in finite difference method and heat transfer/fluid flow analyses. This approach drastically reduces complexities and computational burden due to previous approaches. More specifically, the grid method with a new formulation simplifies the design to a problem of three-design-variable unit grid, which does not require to solve inverse/ forward kinematics. The effectiveness of the grid method has been confirmed through a kinematics design of a planar robot for nuclear power plants and a spatial robot.