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Paper details
Number 3 - September 2000
Volume 10 - 2000
Kinematic approximation of robotic manipulators
Ignacy Dulęba
Abstract
A kinematic approximation of the nominal, reference kinematics of a manipulator is addressed. The approximation task leads to a minimax optimization problem. Some modifications facilitating the implementation of the algorithm in search spaces of high dimensionalities are presented. A sub-gradient mesh algorithm of solving the minimax task is given in detail. The approximation of the CYBOTECH manipulator with a ULB robot is provided based on the use of the Chebyshev metric. As an alternative, some measures of proximity of manipulators are also introduced.
Keywords
manipulator, kinematics, approximation, metrics, ULB robot