2025
Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design Through Kineto-Static Bi-Level Optimization
Enrico Mingo Hoffman, Daniel Costanzi, Gabriele Fadini, Narcís Miguel, Andrea Del Prete, Luca Marchionni
RA-L 2025
Designing robotic manipulators for generic tasks while meeting specific requirements is a complex, iterative process involving mechanical design, simulation, control, and testing. New computational design tools are needed to simplify and speed up such processes. This work presents an original formul