Robot arm‐wrist coordination. Part 2. Design guidelines

Marcelo H. Ang, Vassilios D. Tourassis

Research output: Contribution to journalArticlepeer-review


In the companion article (Part 1), we developed a mathematical framework 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)181-195
Number of pages15
JournalJournal of Robotic Systems
Issue number2
Publication statusPublished - Apr 1990

ASJC Scopus subject areas

  • Control and Systems Engineering

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