Task-oriented design of robot kinematics using the Grid Method

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This paper presents a task-oriented design method for robot kinematics based on the Grid Method, which is widely used in the finite difference method and heat transfer/fluid flow analyses. This approach drastically reduces the complexity of the whole problem and increases the efficiency compared with previous approaches. More specifically, the Grid Method with a new formulation simplifies the design to a problem of a four-design-variable unit grid, which does not require solving inverse/forward kinematics. The efficiency of the Grid Method has been confirmed through a kinematics design of a planar robot for nuclear power plants and spatial robots.
Publisher
TAYLOR & FRANCIS LTD
Issue Date
2003
Language
English
Article Type
Article
Keywords

MANIPULATORS; CONFIGURATIONS

Citation

ADVANCED ROBOTICS, v.17, no.9, pp.879 - 907

ISSN
0169-1864
DOI
10.1163/156855303770558679
URI
http://hdl.handle.net/10203/78333
Appears in Collection
ME-Journal Papers(저널논문)
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