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| Sub-workspace design of binary manipulators using active and passive joints
Yoon Young Kim
The Journal of Mechanical Science and Technology, vol. 22, no. 9, pp.1707-1715, 2008
Abstract : This paper is concerned with an efficient continuous variable optimization method for determining an optimal configuration
of passive and active joints of a binary manipulator when it operates within a desired sub-workspace. When
joints are passive, their states, either stretched or contracted, are also determined by the developed method. Manipulator
operations in a sub-workspace can avoid unnecessary actuations, resulting in energy saving. A technique to increase the
sub-workspace concentration degree for a given maximum number of allowable active joints is also suggested.
Keyword : Binary manipulator; Sub-workspace design; Active joint; Passive joint; Continuous-variable method |
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