The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON APPLIED AND THEORETICAL MECHANICS
Transactions ID Number: 52-455
Full Name: Meysam Chegini
Position: Ph.D. Candidate
Age: ON
Sex: Male
Address: Iran Zanjan Abhar North Taleghani Blvd postal code 4561933495
Country: IRAN
Tel:
Tel prefix:
Fax:
E-mail address: meysam.chegini@gmail.com
Other E-mails: meysam.chegini@gmail.com
Title of the Paper: Optimal Kinematic Design Of Serial manipulators
Authors as they appear in the Paper: Meysam Chegini
Email addresses of all the authors:
Number of paper pages: 10
Abstract: Finding the kinematic conditioning index (KCI) for serial manipulators puma 560 robot with different HD parameters in terms of minimum condition number is the main objective of this article. One of the important criteria in optimal design is that robot can achieve isotropic configuration that means frobenius norm condition number of its Jacobian matrix reaches unity. In isotropic configuration, best servo accuracy can be achieved. For obtaining isotropic configuration (optimum design), minimum of frobenius norm condition number (K) is needed since as K is closer to one, well condition and hence isotropic configuration is achieved. In this project PUMA560 robot is introduced as robots that optimal design with fmincon optimization way is applied on them
Keywords: kinematic conditioning index (KCI), puma 560, frobenius norm, well condition, fmincon optimization way
EXTENSION of the file: .pdf
Special (Invited) Session:
Organizer of the Session:
How Did you learn about congress:
IP ADDRESS: 188.34.70.152
