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Inicio  /  Applied Sciences  /  Vol: 12 Par: 18 (2022)  /  Artículo
ARTÍCULO
TITULO

Optimal Kinematic Task Position Determination?Application and Experimental Verification for the UR-5 Manipulator

Charalampos Valsamos    
Kanstantsin Miatliuk    
Adam Wolniakowski    
Vassilis Moulianitis and Nikos Aspragathos    

Resumen

A method for determining the optimal position of a robotic task within a manipulator?s workspace considering the minimum singularity free paths in joint space in order to achieve a high kinematic performance is presented. The selected performance criterion was the minimization of the joint velocities during task execution under a given end effector velocity. The proposed method is applied to place kinematic tasks for a UR-5 manipulator. Joint speed measurements are compared for the optimal and the ?bad? task positions and the results show that at the optimal position, lower joint speeds are exerted during task execution.

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