Measuring Performance: Metrics for Manipulator Design, Control, and Optimization

Design and Performance Tests of a Mobile Mechanical Manipulator

Mobile mechanical manipulators are one of the automation aspects which were revealed in last years of twentieth century. These machines assume the responsibility of human and gradually expand the domain of their activities in industry. This paper is a presentation of the Sweeper Robot designed in the Robotic Laboratory of Iran University of Science and Technology. The original design of this ro...

Modular Redundant Manipulator Design for Dynamic Performance

This article presents a methodology for the modular design of redundant manipulators for im proved dynamic performance The modularity is obtained from a special decomposition of the design problem into smaller more manageable subproblems This decomposition corresponds to a division of the redundant mechanism into non redundant macro and mini substructures that will be designed separately The de...

Simulation of Robot Manipulator Trajectory Optimization Design

ABSTRACT: Most of the trajectory planning based on robot dynamics and kinematics start from the joint space, can not guarantee the robot end track corresponding relationship. To solve the above problem, the method of trajectory planning is proposed and the optimization algorithm is used to solve the optimization trajectory. Taking the SCARA robot as an example, the trajectory of the end traject...

Optimization of Registration Performance Metrics

Coordinated Vehicle/manipulator Design and Control Issues for Underwater Telemanipulation

1: Deep Submergence Laboratory, Woods Hole Oceanographic Institution, Woods Hole, MA 02543, USA ABSTRACT Control of underwater vehicle/ manipulator systems described by highly nonlinear and coupled dynamics can be improved through careful vehicle and manipulator design, while novel controller structures can improve system performance and simplify the man/machine interface requirements. Understa...