| Name: | Description: | Size: | Format: | |
|---|---|---|---|---|
| 1.17 MB | Adobe PDF |
Advisor(s)
Abstract(s)
A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions and based on a set of differential equations which, due to thier nature lead to very precise results and strategies but, in general, require laborious computations. Yhis motivates the need of alternative models based on other mathematical concepts. The proposed statistical method is a step in this direction which gives clear guidelines towards the robot kinematic and dynamic optimization. Furthermore, the proposed method points out new concepts well adapted to the study of biological-like muscleactuated robotic arms.