Optimal Workspace Designs of Free-Floating Planar Manipulators

Cite Details

S. K. Agrawal, R. Garimella and G. Desmier, "Optimal Workspace Designs of Free-Floating Planar Manipulators", in Proceedings of IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, (Osaka, Japan), Nov 1991

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Abstract

For free-floating manipulators, the workspace of a reference point is a function of the links' geometry, the link masses, and the location of the mass centers. The question addressed is how to choose these parameters, namely, the link lengths, the link masses, and the geometric location of the mass centers such that the workspace is maximized. This question is studied for both free-floating planar open and closed chains in which all the joints are revolute.

BibTeX Entry

@inproceedings{agrawal-1991-optimal,

author = {S. K. Agrawal and R. Garimella and G. Desmier},

title = {Optimal Workspace Designs of Free-Floating Planar Manipulators},

year = {1991},

month = Nov,

booktitle = {Proceedings of IEEE/RSJ International Workshop on Intelligent Robots and Systems '91},

address = {Osaka, Japan}

}