Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/3537068/figures/3537068.fig.005a.svgz" name="3537068.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>A 10-obstacle environment with 4 TSLs</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/3537068/figures/3537068.fig.005b.svgz" name="3537068.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>A skeletal view of the 6-link manipulator in the environment.</td></tr></table>

<div>An exemplary case study for strategy validation.</div>

Journal of Robotics

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Figure 5

Figure 5: Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis 