Computational aspects of robot manipulation
Cheng, HuiThe objective of this dissertation is to make the on-line computation for the manipulation of
general robots possible by using a personal computer. For this purpose, this dissertation mainly
deals with the numerical inverse kinematics and inverse dynamics problems of general robot manipulators:
given the desired end-effector position (location and orientation), velocity, and acceleration
along with the various link parameters, inertia properties, and external force/moment acting on the
end-effector, what are the joint values, joint rates, joint accelerations, and the driving forces/torques
of the actuators to achieve the end-effector motion?
Categories:
Year:
1989
Publisher:
University of Illinois at Chicago
Language:
english
Pages:
182
File:
PDF, 6.14 MB
IPFS:
,
english, 1989