Configuration Synthesis and Efficient Motion Programming of Robot Manipulators

Abstract

One objective of this research was to study the factors which influence the design of robot arms and wrists (configuration synthesis). Another objective was to develop efficient computational software tools for the manipulation of industrial robots. These software tools were to address the critical problems which arise in smooth trajectory planning, inverse kinematics of general robots, dynamic control of realistic robots, and parameter identification and compensation.

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Document Details

Document Type
Technical Report
Publication Date
Mar 15, 1991
Accession Number
ADA238669

Entities

People

  • K. C. Gupta

Organizations

  • University of Illinois at Chicago

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Applied Mechanics
  • Central Processing Units
  • Compensation
  • Computer Programming
  • Computers
  • Control Systems
  • Differential Equations
  • Equations
  • Errors
  • Geometry
  • Identification
  • Kinematics
  • Mechanical Engineering
  • Mechanics
  • Trajectories

Fields of Study

  • Computer science

Readers

  • Robotics and Automation.
  • Theoretical Analysis.

Technology Areas

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