On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators

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dc.creatorChablat, Damien
dc.creatorAngeles, Jorge
dc.date2007-05-08
dc.date.accessioned2026-07-07T08:00:04Z
dc.date.available2026-07-07T08:00:04Z
dc.descriptionProposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix that is used as a reference model for purposes of performance evaluation. Applications of the index fall in the realm of design, but control applications are outlined. The paper focuses on planar manipulators, the basic concepts being currently extended to their three-dimensional counterparts.
dc.identifierhttps://arxiv.org/abs/0705.1150
dc.identifierhttp://arxiv.org/abs/0705.1150
dc.identifierJournal of Mechanism and Machine Theory (2002) 351-374
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/128592
dc.subjectRobotics
dc.titleOn the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators
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