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A Formulation of Task Based Design of Robot Manipulators
J. Kim and P. Khosla
IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS 93), Vol. 3, July, 1993, pp. 2310 - 2317.

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The authors discuss how to design a manipulator from a given task. While the ultimate goal is to design all kinematic and dynamic parameters of a manipulator, they consider only kinematic parameters. Optimal design of a manipulator even for a simple task is difficult because it involves a complex task description and constraints on possible manipulators and many design variables that lead to a combinatorial explosion. For the example of designing a space shuttle tile servicing robot, they introduce a formulation of a given task and manipulator constraints.

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J. Kim and P. Khosla, "A Formulation of Task Based Design of Robot Manipulators," IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS 93), Vol. 3, July, 1993, pp. 2310 - 2317.

@inproceedings{Kim_1993_1392,
   author = "Jin-Oh Kim and Pradeep Khosla",
   title = "A Formulation of Task Based Design of Robot Manipulators",
   booktitle = "IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS 93)",
   month = "July",
   year = "1993",
   volume = "3",
   pages = "2310 - 2317"
}