A synthetic solution of an equation for motion of redundant robot manupulator - A study for constructing a robot simulator
Abstract
A computer-modelled virtual system for simulating a robot system with more than six degrees of freedom is presented. The arrangement of the robot link mechanism is shown, and synthetic solutions for robot motion are obtained by introducing the Moore-Penrose Pseudo-inverse into equations expressed in terms of a Jacobian matrix. Experimental results using a robot simulator are presented.
- Publication:
-
Hokkaido University Faculty Engineering Bulletin
- Pub Date:
- March 1984
- Bibcode:
- 1984HUFEB.......75K
- Keywords:
-
- Computer Aided Design;
- Computerized Simulation;
- Equations Of Motion;
- Manipulators;
- Redundant Components;
- Robots;
- Body Kinematics;
- Jacobi Matrix Method;
- Motion Simulation;
- Engineering (General)