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

在本研究项目中，一个可靠和高效的运动程序， （操纵理论）将开发一般机器人与 没有多余的自由。 良好的运动结构和良好的手臂 运动程序对于多功能操纵器都是必不可少的。 经典的搜索技术，以优化运动配置的 臂是极其详尽的，因此是不可行的。 使用 上述通用操作理论，高效搜索 技术将被开发，以改善配置的 机械臂。

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.