1A1-B02 A link parameters search program with a resolution index

Abstract

The index of the end effector resolution of multiple degrees of freedom manipulators is proposed. A calculation method of the index that used the differential kinematics is shown. Resolutions of the actuators are associated with the end effector resolution by this index. Furthermore an algorithm that searches for the link parameters from the specification of a manipulator was developed. The examples of the search which utilized the index as one of the specifications are shown. The problems are initial value dependencies and falling into a local best solution. Improvement of this algorithm is the future problem.