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

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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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275349
Contributor : Olivier Company Connect in order to contact the contributor
Submitted on : Saturday, December 1, 2018 - 7:40:18 PM
Last modification on : Friday, October 22, 2021 - 3:07:22 PM
Long-term archiving on: : Saturday, March 2, 2019 - 1:31:17 PM

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Samah Aref 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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