...Alan P. Bowling; Oussama Khatib This paper presents methodologies for the analysis and design of redundant manipulators, especially macro-/ministructures, for improved dynamic performance. Herein, the dynamic performance of a redundant manipulator is characterized by the end-effector inertial...

...Alan P. Bowling This paper illustrates the use of dynamic performance analysis in the design of legged robots, specifically hexapods. This is accomplished by comparing the dynamic performance of a cable-driven hexapod to that of a more conventional design in which the actuators are mounted...

... 09 01 2006 manipulator dynamics end effectors rotors concave programming design engineering dynamic performance end-effector velocity acceleration capability robotic manipulator design In this work, dynamic performance is considered in terms of a manipulator’s ability...