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The measurement and improvement of task agility, the ability of a manipulator to effectively handle multiple task types, has become increasingly important in the manufacturing industry as efforts are made to design more versatile and efficient factories. Task agility is crucial to the performance of kinematically redundant manipulators in complex manufacturing workspaces that involve several physical...
Kinematically redundant manipulators are coveted for their ability to perform more complex and a greater variety of tasks than their non-redundant counterparts. This increased utility demands that manipulator designs be carefully optimized to achieve the kinematic dexterity required to perform their numerous intended tasks. The optimization of redundant manipulator designs to improve isotropy has...
As manufacturing companies endeavor to design more versatile, energy-efficient, and productive assembly lines, the design and employment of kinematically redundant robotic manipulators has become an increasingly important research focus. Redundant manipulators can perform more complex and a greater variety of tasks than their non-redundant counterparts, but this increased utility demands that manipulators...
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