On the performance evaluation and analysis of general robots with mixed dofs

Samah Aref Shayya; Sébastien Krut; Olivier Company; Cédric Baradat; Francois PIERROT

doi:10.1109/IROS.2014.6942604

On the performance evaluation and analysis of general robots with mixed dofs

Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat Francois PIERROT

27th International Conference on Intelligent Robots and Systems, pp.490-497

IROS: Intelligent Robots and Systems (Chicago, IL, United States, 14/09/2014–18/09/2014)

2014

: https://doi.org/10.1109/IROS.2014.6942604

This paper deals with the kinetostatic performance evaluation regarding translational and rotational motions of general robots with mixed operational degrees of freedom (dofs). Also, robots with different types of actuators can be analyzed based on the same approach without any problem. Besides, the generality of the approach embraces serial, parallel, actuatedly or kinematically redundant robots. The paper seeks clarifying the issue and providing a relevant solution. It also clarifies some other useful points in this matter.

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: On the performance evaluation and analysis of general robots with mixed dofs
: Samah Aref Shayya - Centre National de la Recherche Scientifique
Sébastien Krut - Centre National de la Recherche Scientifique
Olivier Company - Centre National de la Recherche Scientifique
Cédric Baradat - Tecnalia
Francois PIERROT - Université de Montpellier, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
: 27th International Conference on Intelligent Robots and Systems, pp.490-497
: IROS: Intelligent Robots and Systems (Chicago, IL, United States, 14/09/2014–18/09/2014)
: 9944951909311
: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
: English
: Conference proceeding
: lirmm-01275349