Hostname: page-component-586b7cd67f-tf8b9 Total loading time: 0 Render date: 2024-11-25T10:10:09.143Z Has data issue: false hasContentIssue false
  • English
  • Français

Differential relationship of kinematic model and speed control strategies for a computer-controlled robot manipulator

Published online by Cambridge University Press:  09 March 2009

C. Y. Ho  and
Sriwattanathamma Jen
C. Y. Ho
Affiliation:
Department of Computer Science, University of Missouri-Rolla, Rolla, Missouri 65401 (U.S.A.)
Sriwattanathamma Jen
Affiliation:
Department of Computer Science, University of Missouri-Rolla, Rolla, Missouri 65401 (U.S.A.)
Get access Rights & Permissions [Opens in a new window]

Abstract

Summary

This paper describes a new approach to obtaining a differential relationship of a robot manipulator via the Theoretical Kinematics method which may expedite computational efforts. The method involves a successive transformation of velocities from the end-effector to the base of the manipulator, link by link, using the relationship of moving coordinate systems. The equations obtained are written in the form suitable for programming on a digital computer. Furthermore, this paper also discusses the speed control model for general robot manipulators and together presents the Inverse Jacobian of cases of underdetermined and overdetermined of joint-controlled variables.

Type
Articles
Information
Robotica , Volume 4 , Issue 3 , July 1986 , pp. 155 - 162
Copyright
Copyright © Cambridge University Press 1986

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Ho, C.Y. and Copeland, K.W., “Solution of Kinematic Equations for Robot Manipulators” Digital Systems for Industrial Automation 1, No. 4, 335–352 (1982).Google Scholar
2.Paul, R., Robot Manipulators: Mathematics, Programming and Control (MIT Press, Cambridge, Mass., 1981).Google Scholar
3.Whitney, D.E., “The Mathematics of Coordinated Control of Prosthetic Arm and Manipulators” Trans. ASME, J. of Dynamic System, Measurement and Control 303–309 (12, 1972).Google Scholar
4.Angeles, J., Spatial Kinematic Chains (Springer-Verlag, Berlin, 1982).Google Scholar
5.Bottema, O. and Roth, B., Theoretical Kinematics (North-Holland Publishing Co., Amsterdam, 1979).Google Scholar
6.Rao, C. R. and Mitra, S. K., Generalized inverse of Matrices and Its Applications (John Wiley & Sons, New York, 1971).Google Scholar