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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.)
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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

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References

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