MANIPULATION
Minimization of Constraint Forces in Industrial Manipulators
Himanshu Chaudhary, Subir Kumar Saha
- Year
- 2007
- Citations
- 4
Abstract
Constraint force minimization is essential to improve the dynamic performance of an industrial manipulator. An optimization method is proposed to minimize the constraint forces using the concept of dynamically equivalent system of point-masses. It is shown that for the six-DOF PUMA robot the constraint forces are substantially reduced.
Keywords
Constraint (computer-aided design)MinificationIndustrial robotManipulator (device)Point (geometry)RobotControl theory (sociology)Computer scienceRobot manipulatorMathematical optimization
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