Application of the general elimination method in robot kinematics
โ Scribed by Ludovit Markus
- Publisher
- Springer Netherlands
- Year
- 1994
- Tongue
- English
- Weight
- 292 KB
- Volume
- 11
- Category
- Article
- ISSN
- 0921-0296
No coin nor oath required. For personal study only.
๐ SIMILAR VOLUMES
In order for industrial robots to acheive high trajectory accuracy and absolute position accuracy, exact definitions of the machine data required for coordinate transformation, e.g. the data for the reference points and the robot-geometry data, are needed. Error analysis has proven that the data to
A method known as spinor method is applied to the stud>, of <~~narnic model of robot. It merges velocity and angular velocity. Force and moments into an organic whole by their internal relation; and makes Newton-Euler method more concise and " efficient. A reference system is formed with respect to
The objective of this paper is two-fold. Firstly, we extend the applications of the control scheme, proposed by Ailon (1996, Automatica, 32(10), 1455}1461), which is based on the contraction mapping theorem, to a full model of a robot manipulator (Tomei, 1991, IEEE Transactions on Automatic Control,