The Optimal Design of Work Location for a RRR 3-DoF Manipulator
In this paper, an algorithm is proposed to determine the optimal work location to minimize the sum of the joint angle. The algorithm use the sum of the three joint angle as the objective function, through analysis of workable domain, coordinates transformation, globe search, to get the optimal work position of the manipulator. Simulation shows that the proposed algorithm works well for stipulated aim.
Daoguo Yang, Tianlong Gu, Huaiying Zhou, Jianmin Zeng and Zhengyi Jiang
S. X. Tian and S. Z. Wang, "The Optimal Design of Work Location for a RRR 3-DoF Manipulator", Advanced Materials Research, Vols. 201-203, pp. 1213-1216, 2011