Configuration Synthesis and Approximate Motion Programming of Robot Manipulators.

Abstract

A systematic approach to the configuration synthesis of robot arms and wrists has been developed. A simple method for representing and analyzing robots, called the zero reference position method has been developed. The analysis includes forward and inverse kinematics, direct and inverse dynamics, and robust numerical algorithms. A method for approximate manipulation based upon goal chasing strategy has been developed which is suitable for gross robot motions. Keywords: Iterative solutions; Robust algorithms; Joint torques; Simulation; Dynamics; Target tracking.

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Document Details

Document Type
Technical Report
Publication Date
Dec 10, 1986
Accession Number
ADA176403

Entities

People

  • K. C. Gupta

Organizations

  • University of Illinois at Chicago

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Computational Complexity
  • Computations
  • Computers
  • Coordinate Systems
  • Differential Equations
  • Dynamics
  • Engineering
  • Engineers
  • Equations
  • Equations Of State
  • Euler Equations
  • Illinois
  • Mechanical Engineering
  • Scientists
  • Simulations
  • Target Tracking

Fields of Study

  • Engineering

Readers

  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy