Optimal Robot Design and Differential Geometry

[+] Author and Article Information
F. C. Park

Mechanical Design and Production Engineering, Seoul National University, Seoul, Korea

J. Vib. Acoust 117(B), 87-92 (Jun 01, 1995) (6 pages) doi:10.1115/1.2838681 History: Received October 01, 1994; Online February 26, 2008


In this article we survey some recent developments in optimal robot design, and collect some of the differential geometric approaches into a general mathematical framework for robot design. The geometric framework permits a set of coordinate-free definitions of robot performance that can be optimized for designing both open- and closed-chain robotic mechanisms. In particular, workspace volume is precisely defined by regarding the rigid body motions as a Riemannian manifold, and various features of actuators, as well as inertial characteristics of the robot, can be captured by the suitable selection of a Riemannian metric in configuration space. The integral functional of harmonic mapping theory also provides a simple and elegant global description of dexterity.

Copyright © 1995 by The American Society of Mechanical Engineers
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