Optimum design of a three-dimensional serial robot manipulator - Snyman, J. A.; Tonder, F. (Structural Optimization, 1999)
Keywords: Applied sciences; Drives; Exact sciences and technology; Geometric constraints; Linkage mechanisms, cams; Mathematical analysis; Mechanical engineering. Machine design; Optimization; Penalty function; Robot arms; Robustness (mathematics); Trajectory optimization; Three dimensional model; Mechanism synthesis; Linkage mechanism; Motor torque; Numerical method; Series system; Optimization; Robotics; Manipulator; Inverse problem; Mathematical programming