Optimal placement and synthesis of a 3R manipulator
Content type: article
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Abstract:
This paper addresses a new method for solving themplacement and synthesis problem of 3R manipulators with some know denavit-hartenberg (DH) parameters in order to follow and arbitry task. Using a nonlinear search optimization technique it is possible to minimize the link legths while maximizing manipulability. A general optimization criteria is developed and an example is examined with satisfactory results