A computational technique for obtaining minimum-time trajectories for robot manipulators is described in this paper. In the analysis, limitations to link movements due to design constraints are taken into consideration. Numerical examples based on a two-link planar robot arm shows the feasibility of the technique proposed. A physical explanation for the general characteristics of the observed trajectories is also presented. The importance of appreciating optimal control issues in designing robot manipulators and in planning robot workstation layouts is emphasised. © 1991, Cambridge University Press. All rights reserved.
The work described in this paper addresses the problem of determination of the appropriate distribution of forces between the fingers of a multifingered gripper grasping an object. The finger-object interactions are modeled as point contacts. The system is statically indeterminate and an optimal solution for the this problem is desired for force control. A fast and efficient method for computing the grasping forces is presented. Some simple grasps are used to evaluate the proposed algorithms. © 1991 ACADEMIC PRESS, INC.
Waldron, K & Hunt, KH 1991, 'Series-parallel Dualities In Actively Coordinated Mechanisms', International Journal Of Robotics Research, vol. 10, no. 5, pp. 473-480.
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A deep symmetry between serial chain manipulators and fully parallel systems such as the Stewart platform is demonstrated. This symmetry is shown to be a result of the well-known duality of motion screw axes and wrenches. The appearance of the inverse