Research Initiation: Manipulation and Configuration Synthesis of Robotic Arms with and without Redundant Freedoms

在这项研究项目中，将开发一种可靠而高效的运动程序(操纵理论)，适用于有冗余自由度和无冗余自由度的一般机器人。对于一个多才多艺的机械手来说，良好的运动学结构和良好的手臂运动程序都是必不可少的。优化手臂运动学构型的经典搜索技术是极其详尽的，因此是不可行的。利用前述通用操纵理论，将开发有效的搜索技术来改进机械臂的构型。

In this research project, a reliable and efficient motion program (manipulation theory) will be developed for general robots with and without redundant freedoms. Good kinematic structure and good arm movement programs are both essential for a versatile manipulator. Classical search techniques to optimize the kinematic configuration of the arm are extremely exhaustive and therefore not feasible. Using the aforementioned general purpose manipulation theory, efficient search techniques will be developed to improve the configuration of the robotic arms.