TY - JOUR
T1 - Robot arm‐wrist coordination. Part 2. Design guidelines
AU - Ang, Marcelo H.
AU - Tourassis, Vassilios D.
PY - 1990/4
Y1 - 1990/4
N2 - 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.
AB - 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.
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U2 - 10.1002/rob.4620070205
DO - 10.1002/rob.4620070205
M3 - Article
AN - SCOPUS:0025414975
VL - 7
SP - 181
EP - 195
JO - Journal of Field Robotics
JF - Journal of Field Robotics
SN - 1556-4959
IS - 2
ER -