Task Based Kinematic Design of Robot Manipulators

Jin-Oh Kim
doctoral dissertation, tech. report , Robotics Institute, Carnegie Mellon University, August, 1992


Abstract
A design methodology called Task Based Design is proposed to design an optimal manipulator for a given task. One motivation of this research is the CMU Reconfigurable Modular Manipulator System (RMMS) that utilizes a stock of assemblable joint and link modules of different size and performance specifications. The modularity in mechanical, electrical and electronic design in RMMS allows the user to design the optimal manipulator for the task at hand. For fully exploiting this feature of the RMMS, it requires development of a strategy that maps a given task onto a manipulator. This requirement leads to Task Based Design (TBD) of robot manipulators.

Notes
Grant ID: #F33615-86-C-5-38
Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference
Jin-Oh Kim, "Task Based Kinematic Design of Robot Manipulators," doctoral dissertation, tech. report , Robotics Institute, Carnegie Mellon University, August, 1992

BibTeX Reference
@phdthesis{_1992_4,
   author = "Jin-Oh Kim",
   title = "Task Based Kinematic Design of Robot Manipulators",
   booktitle = "",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "August",
   year = "1992",
}