Differential Relationship Of Kinematic Model And Speed Control Strategies For A Computer-controlled Robot Manipulator

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. © 1986, Cambridge University Press. All rights reserved

Robot Pedagogics: The Adaptation, Analysis, and Computer Control of a Model Manipulator

The subject of robotics is addressed by many different fields, among them computer science, electrical engineering, and mechanical engineering. This work is an attempt to bring together all of these aspects from the perspective of a computer science background. Different techniques are considered and reconciled with one another in the analytical area, while detail and explanation are added in all areas that were not previously available. In addition, geometrical interpretations arc presented for concepts that have heretofore been presented only in the form of equations