Task-based design optimization of serial robot manipulators

References

• Angeles , J. 2007 . Fundamentals of robotic mechanical systems, theory, methods, and algorithms , 3 , New York : Springer .
   Google Scholar
• Bobrow , J. E. , Dubowsky , S. and Gibson , J. S. 1985 . Time-optimal control of robotic manipulators along specified paths . International Journal of Robotics Research , 4 ( 3 ) : 3 – 17 . (doi:10.1177/027836498500400301)
   Web of Science ®Google Scholar
• Box , M. J. 1965 . A new method of constrained optimization and a comparison with other methods . Computer Journal , 8 ( 1 ) : 42 – 52 . (doi:10.1093/comjnl/8.1.42)
   Web of Science ®Google Scholar
• Corke , P. I. and Armstrong-Hélouvry , B. 1995 . A meta-study of puma 560 dynamics: a critical appraisal of literature data . Robotica , 13 ( 3 ) : 253 – 258 . (doi:10.1017/S0263574700017781)
   Web of Science ®Google Scholar
• Denavit , J. and Hartenberg , R. S. 1955 . A kinematic notation for lower-pair mechanisms based on matrices . Transactions of the ASME Journal of Applied Mechanics , 22 : 215 – 221 .
   Google Scholar
• Gosselin , C. and Angeles , J. 1991 . A global performance index for the kinematic optimization of robotic manipulators . Journal of Mechanical Design , 113 ( 3 ) : 220 – 226 . (doi:10.1115/1.2912772)
   Web of Science ®Google Scholar
• Graettinger , T. J. and Krogh , B. H. 1988 . The acceleration radius: a global performance measure for robotic manipulators . IEEE Journal of Robotics and Automation , 4 ( 1 ) : 60 – 69 . (doi:10.1109/56.772)
   Google Scholar
• Haddad , M. 2007 . “ Trajectory generation ” . In Robot manipulators, modeling, performance, analysis, and control , 1 , Edited by: Khalil , W. and Dombre , E. 189 – 234 . London : ISTE .
   Google Scholar
• Hollerbach , J. M. Dynamic scaling of manipulator trajectories . In: American Control Conference (ACC 1983) . June 22–24 , San Francisco, CA, USA . pp. 752 – 756 . New York : IEEE Press .
   Google Scholar
• Kahn , E. and Roth , B. 1971 . The near-minimum-time control of open-loop articulated kinematic chains . ASME Journal of Dynamic Systems, Measurements, and Control , 39 ( 3 ) : 164 – 172 . (doi:10.1115/1.3426492)
   Google Scholar
• Khatib , O. and Bowling , A. Optimization of the inertial and acceleration characteristics of manipulators . 1996 IEEE International conference on robotics and automation . April 22–28 , Minneapolis, MN, USA . pp. 2883 – 2889 . New York : IEEE Press .
   Google Scholar
• Kim , J. O. and Khosla , P. K. A formulation for task based design of robot manipulators . 1993 IEEE/RSJ international conference on intelligent robots and systems (IROS ’93) . July 26–30 , Yokahoma, Japan . pp. 2310 – 2317 . New York : IEEE Press .
   Google Scholar
• Kim , J. Y. 2006 . Task based kinematic design of a two dof manipulator with a parallelogram five-bar link mechanism . Mechatronics , 16 ( 6 ) : 323 – 329 . (doi:10.1016/j.mechatronics.2006.01.004)
   Web of Science ®Google Scholar
• Klein , C. A. and Blaho , B. E. 1987 . Dexterity measures for the design and control of kinematically redundant manipulators . International Journal of Robotics Research , 6 ( 2 ) : 72 – 83 . (doi:10.1177/027836498700600206)
   Web of Science ®Google Scholar
• Kolda , T. G. , Lewis , R. M. and Torczon , V. 2003 . Optimization by direct search: new perspectives on some classical and modern methods . SIAM Review , 45 ( 3 ) : 385 – 482 . (doi:10.1137/S003614450242889)
   Web of Science ®Google Scholar
• Krus , P. and Andersson , J. Optimizing optimization for design optimization . ASME 2003 international design engineering technical conferences and computers and information in engineering conference (IDETC/CIE2003) . September 2–6 , Chicago, IL, USA . pp. 951 – 960 . New York : ASME . 2: 29th Design Automation Conference, Parts A and B
   Google Scholar
• Ma , S. 1996 . A balancing technique to stabilize local torque optimization solution of redundant manipulators . Journal of Robotic Systems , 13 ( 3 ) : 177 – 185 . (doi:10.1002/(SICI)1097-4563(199603)13:3<177::AID-ROB5>3.0.CO;2-P)
   Google Scholar
• Park , J.-Y. , Chang , P.-H. and Yang , J.-Y. 2003 . Task-oriented design of robot kinematics using the grid method . Advanced Robotics , 17 ( 9 ) : 879 – 907 . (doi:10.1163/156855303770558679)
   Web of Science ®Google Scholar
• Pettersson , M. and Olvander , J. Adaptive complex method for efficient design optimization . ASME 2007 international design engineering technical conference and computer and information in engineering conference (IDETC/CIE2007) . September 4–7 , Las Vegas, NV, USA . pp. 265 – 272 . New York : ASME . 6
   Google Scholar
• Pfeiffer , F. and Johanni , R. A concept for manipulator trajectory planning . 1986 IEEE international conference on robotics and automation . April 7–10 , San Francisco, CA, USA . pp. 1399 – 1405 . New York : IEEE Press .
   Google Scholar
• Rao , C. V. and Rawlings , J. B. 2000 . Linear programming and model predictive control . Journal of Process Control , 10 ( 2–3 ) : 283 – 289 . (doi:10.1016/S0959-1524(99)00034-7)
   Web of Science ®Google Scholar
• Rao , S. S. 2010 . Engineering optimization theory and practice , 3 , New Delhi : New Age International Publishers .
   Google Scholar
• Saha , S. K. 2008 . Introduction to robotics , 1 New Delhi: Tata McGraw-Hill
   Google Scholar
• Salisbury , J. K. and Craig , J. J. 1982 . Articulated hands: force control and kinematic issues . International Journal of Robotics Research , 1 ( 1 ) : 4 – 17 . (doi:10.1177/027836498200100102)
   Google Scholar
• Saravanan , R. and Ramabalan , S. 2008 . Evolutionary minimum cost trajectory planning for industrial robots . Journal of Intelligent Robotics Systems , 52 ( 1 ) : 45 – 77 . (doi:10.1007/s10846-008-9202-0)
   Web of Science ®Google Scholar
• Shiller , Z. and Dubowsky , S. 1991 . On computing the global time-optimal motions of robotic manipulators in the presence of obstacles . IEEE Transactions on Robotics and Automation , 7 ( 6 ) : 785 – 797 . (doi:10.1109/70.105387)
   Google Scholar
• Shin , K. and Mckay , N. 1985 . Minimum-time control of robotic manipulators with geometric path constraints . IEEE Transactions on Automatic Control , 30 ( 6 ) : 531 – 541 . (doi:10.1109/TAC.1985.1104009)
   Web of Science ®Google Scholar
• Siciliano , B. 2009 . Robotics modeling, planning and control , London : Springer .
   Google Scholar
• Stumper , J. F. and Kennel , R. Computationally efficient trajectory optimization for linear control systems with input and state constraints . American control conference (ACC) . San Francisco, CA, USA . pp. 1904 New York : IEEE Press . 29 June–1 July
   Google Scholar
• Tourassis , V. D. and Neuman , C. P. 1985 . The inertial characteristics of dynamic robot models . Mechanism and Machine Theory , 20 ( 1 ) : 41 – 52 . (doi:10.1016/0094-114X(85)90056-4)
   Web of Science ®Google Scholar
• Yoshikawa , T. 1985 . Manipulability of robotic mechanisms . International Journal of Robotics Research , 4 ( 2 ) : 3 – 9 . (doi:10.1177/027836498500400201)
   Web of Science ®Google Scholar
• Yunong , Z. , Ge , S. S. and Tong Heng , L. 2004 . A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators . IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics , 34 ( 5 ) : 2126 – 2132 . (doi:10.1109/TSMCB.2004.830347)
   PubMed Web of Science ®Google Scholar