Goal Directed Design of Manipulators Based on Task Descriptions

Sarosh Patel
Tarek Sobh

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    Here we present the test results for different task goals involving multiple task point with different orientations.  The green lines in the task descriptions indicate the task points with orientations required at that point. The simulation videos to the right show optimal configurations derived from this methodology.

Spherical Goal  
Circular Ring Goal  
Horizontal Plane Goal  
Solid Sphere Goal  
Vertical Goal