Robot arm-wrist coordination. Part 2. Design guidelines

Marcelo H. Ang, Vassilios D. Tourassis

Research output: Contribution to journalArticle

Abstract

In the companion article (Part 1), we developed a mathematical frame work that provides for the analysis and quantitative rating of arm-wrist coordination. The objective of this article is to exploit this framework and formulate manipulator design guidelines for effective arm-wrist coordination and task execution. We explore various arm and wrist designs and quantify their performance in terms of meeting the two design objectives of efficient arm-wrist coordination and robot flexibility. Numerical simulation experiments highlight the measurable effects of both the fixed manipulator geometry and changing robot configuration on arm-wrist coordination and demonstrate the impact of the design guidelines on robot performance.

Original languageEnglish
Pages (from-to)181-193
Number of pages13
JournalJournal of Robotic Systems
Volume7
Issue number2
Publication statusPublished - Apr 1990
Externally publishedYes

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Robots
Manipulators
Geometry
Computer simulation
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Robot arm-wrist coordination. Part 2. Design guidelines. / Ang, Marcelo H.; Tourassis, Vassilios D.

In: Journal of Robotic Systems, Vol. 7, No. 2, 04.1990, p. 181-193.

Research output: Contribution to journalArticle

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