THE KINEMATICS OF MANIPULATORS UNDER COMPUTER CONTROL

Abstract

The kinematics of manipulators is studied. A model is presented which allows for the systematic description of new and existing manipulators. Six degree-of-freedom manipulators are studied. Several solutions to the problem of finding the manipulator configuration leading to a specified position and orientation are presented. Numerical as well as explicit solutions are given. The problem of positioning a multilink digital arm is also discussed. Given the solution to the position problem, a set of heuristics is developed for moving a six degree-of-freedom manipulator from an initial position to a final position through a space containing obstacles. This results in a computer program shown to be able to direct a manipulator around obstacles. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Oct 24, 1968
Accession Number
AD0680036

Entities

People

  • Donald L. Peiper

Organizations

  • Stanford University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Boundaries
  • Cartesian Coordinates
  • Collision Avoidance
  • Computations
  • Computer Programs
  • Computer Science
  • Computers
  • Coordinate Systems
  • Digital Computers
  • Electric Motors
  • Engineering
  • Geometry
  • Mechanics
  • Three Dimensional
  • Trajectories
  • Two Dimensional

Readers

  • Operations Research
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers