Optimal Design of Continuum Robots With Reachability Constraints

While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find optimal designs of continuum robots, given reachability constraint...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 6; H. 2; S. 3902 - 3909
Hauptverfasser:	Cheong, Hyunmin, Ebrahimi, Mehran, Duggan, Timothy
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.04.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Actuators Design Genetic algorithms Inverse kinematics Kinematics methods and tools for robot system design Optimization optimization and optimal control Reachability analysis Robot kinematics Robots soft robot applications Torque
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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