Optimization of Kinematics Performances of Manipulators under Specified Task Conditions

Zeghloul, S.; Blanchard, B.; Pamanes, J. Alfonso

doi:10.1007/978-3-7091-2698-1_30

Cited by 7 publications

(5 citation statements)

References 4 publications

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“…In [25] Shin and Mckay have presented a solution to the problem of minimising the power consumption of moving a serial robotic manipulator along a specified end-effector path subject to input torque/force constraints, by taking into account the dynamics of the manipulator. Other optimum path planning methods can be found like for example in [26][27][28][29][30][31][32][33]. Some attempts have been made also to consider obstacles as constraints in the path planning generation process, as it is proposed for example in [34].…”

Section: Introductionmentioning

confidence: 99%

Collision free trajectory planning for hybrid manipulators

2012

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Section: Introductionmentioning

confidence: 99%

Collision free trajectory planning for hybrid manipulators

2012

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“…Lately, a general formulation was presented to determine the optimal location of a path for a redundant manipulator while dealing with mono-and multi-objective problems [22]. The goal of this research work was to keep the joint variables within their limits and to minimize the magnitude of their displacements [23,24,25,26,27,28,29].…”

Section: Introductionmentioning

confidence: 99%

Path Placement Optimization of Manipulators Based on Energy Consumption: Application to the Orthoglide 3-Axis

Ur-Rehman¹,

Caro²,

Chablat³

et al. 2009

Transactions of the Canadian Society for Mechanical Engineering

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This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric energy used by the actuators while taking into account the geometric, kinematic and dynamic constraints. The proposed methodology is applied to the Orthoglide 3-axis, a three-degree-of-freedom translational parallel kinematic machine (PKM), as an illustrative example.

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“…Other work that considers quality measures for high degree of freedom mechanisms includes Chinellato et al [31], who present twelve quality measures for three fingered grasps of polygons and consider fingertip positioning specifically for the Barrett hand; and Zeghloul, Blanchard and Pamanes [32], who determine manipulator placement for any given task by minimizing trajectory travel time, maximizing the distance of the hand configuration from the joint limits and maximizing performance criteria, such as manipulability under specified task conditions.…”

Section: Introductionmentioning

confidence: 99%

On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands

Pollard

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Grasp quality measures are important for understanding how to plan for and maintain appropriate and secure grasps for pick and place operations and tool use. Most grasp quality measures assume certain symmetries about the mechanism or the task. For example, contact points may be considered to be independent and identical, or an ellipsoidal measure such as the force manipulability ellipsoid may be used. However, many tasks have strong asymmetries, where wrenches in certain directions dominate. Tendon driven hand designs may also have strong asymmetries, leading to differing abilities to apply contact forces in different directions. This paper begins to explore empirically the validity of some of the symmetry assumptions employed by common grasp quality metrics. We examine the human hand and the Shadow Robot Hand, and find that force abilities vary with finger choice and with location of the contact on the finger for both hands. However, while the human hand shows dramatic changes for different poses due to its asymmetric design, the Shadow hand, with a symmetric design shows much smaller changes and resembles the assumption of identical and independent contact points reasonably well. Thus, we suggest that the underlying design of the hand is a very important factor to consider for grasp quality metrics and for grasp planning and control. The specific grasp quality metric we study in this paper also brings together a variety of previous research. We outline a linear programming approach for computing a grasp quality metric that includes tendon force constraints and contact constraints and can handle any task described as a polytope in wrench space.

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Optimization of Kinematics Performances of Manipulators under Specified Task Conditions

Cited by 7 publications

References 4 publications

Collision free trajectory planning for hybrid manipulators

Collision free trajectory planning for hybrid manipulators

Path Placement Optimization of Manipulators Based on Energy Consumption: Application to the Orthoglide 3-Axis

On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands

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