CANONICAL SOLUTIONS TO THE INVERSE VELOCITY AND ACCELERATION PROBLEMS OF ROBOT MANIPULATOR ARM-SUBASSEMBLIES (INSTANTANEOUS KINEMATICS, CONTROL)
Abstract
The canonical system of three-parameter rigid body motion is used to describe in its simplest form, the instantaneous state of motion of the terminal link of three-link open-chains which are the arm-subassemblies of robot manipulators. From this canonical description of the motion of the terminal link, the solutions to the inverse velocity and acceleration problems are obtained. As a consequence of using the canonical system, the resulting solutions to the inverse velocity and acceleration problems are in their canonical form. This work will contribute to the real-time control of these mechanisms.
Degree
Ph.D.
Subject Area
Sports medicine
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