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Kinematic Model Pruning: A Design Optimization Technique for Simultaneous Optimization of Topology and Geometry
This paper presents a method of optimizing the design of robotic manipulators using a novel kinematic model pruning technique. The optimization departs from an predefined candidate linkage consisting of a initial topology and geometry. It allows simultaneously optimizing the degree of freedom, the l...
| Autores principales: | , , , , |
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| Lenguaje: | eng |
| Publicado: |
2022
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| Materias: | |
| Acceso en línea: | https://dx.doi.org/10.3390/robotics11020031 http://cds.cern.ch/record/2851390 |