@inproceedings{pryor_manipulator_1999,
	address = {Las Vegas, NV},
	title = {Manipulator {Performance} {Criteria} {Based} on {Kinematic}, {Dynamic}, and {Compliance} {Models}},
	abstract = {Currently, few criteria are available that identify a redundant robot’s ‘optimal’ configuration. Criteria developers have been compelled to design computationally efficient metrics in order to maintain necessary control cycle rates. This requirement is diminishing in importance with increasing computer
performance, allowing designers to implement more complex and effective criteria into the manipulator’s control algorithms. This paper presents a wide variety of criteria that will aid in pinpointing optimal configurations in redundant manipulators. In developing these criteria, the counterproductive (but often necessary) requirement of minimizing the computation rate per criterion is largely ignored.
These new criteria are intended for two purposes: (1) the trajectory optimization of redundant manipulators and (2) design optimization for configuring link and joint modules in any manipulator. The criteria presented are derived from the geometric (both 1st and 2nd order), dynamic, and compliance models of a manipulator. All criteria are simulated on a 7DOF serial manipulator, and several results are presented here.},
	booktitle = {Proceedings of the {ASME} {Design} {Engineering} {Technical} {Conferences}},
	publisher = {ASME},
	author = {Pryor, Mitch and van Doren, Matthew and Tesar, Delbert},
	month = sep,
	year = {1999},
	pages = {1--9},
}

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