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

Samah Shayya 1, 2 Sébastien Krut 3 Olivier Company 3 Cédric Baradat 1 François Pierrot 3
1 TECNALIA France
2 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275349
Contributor : Olivier Company <>
Submitted on : Saturday, December 1, 2018 - 7:40:18 PM
Last modification on : Monday, December 17, 2018 - 10:44:01 AM
Long-term archiving on : Saturday, March 2, 2019 - 1:31:17 PM

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Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot. On the performance evaluation and analysis of general robots with mixed dofs. IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.490-497, ⟨10.1109/IROS.2014.6942604⟩. ⟨lirmm-01275349⟩

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