Optimum structure design for flexible-link manipulators

@inproceedings{Moallem1996OptimumSD,
  title={Optimum structure design for flexible-link manipulators},
  author={Mehrdad Moallem and Khashayar Khorasani and Rajnikant V. Patel},
  booktitle={ICRA},
  year={1996}
}
In this paper, an index of optimization is proposed for improving the dynamic behavior of structumlly flexible manipulators. The improvement is achieved through an optimization scheme where a cost function associated with the lowest natural flexible mode and an index defined as modal accessibility, zs optimized subject to certain constraints. The… CONTINUE READING