• DocumentCode
    1054160
  • Title

    Comments on "An Exact Kinematic Model of the PUMA 600 Manipulator"

  • Author

    Whitney, Daniel E. ; Shamma, Jeff S.

  • Author_Institution
    C. S. Draper Laboratory, Inc., 555 Technology Square, Cambridge, MA 02139, USA
  • Volume
    16
  • Issue
    1
  • fYear
    1986
  • Firstpage
    182
  • Lastpage
    184
  • Abstract
    Bazerghi et al. present an "exact kinematic model of the PUMA." It appears to be a model of the PUMA\´s internal software model rather than a model of the PUMA itself. Other sources of information about nominal parameter values in the PUMA\´s internal software model are compared with actual parameter values obtained from calibrations of two PUMA 560 manipulators. It has been shown that the actual PUMA and its internal model disagree about tool tip position, typically by several millimeters.
  • Keywords
    Application software; Decision making; Delta modulation; Environmental management; Fuzzy sets; Fuzzy systems; Kinematics; Linear programming; Testing; Time sharing computer systems;
  • fLanguage
    English
  • Journal_Title
    Systems, Man and Cybernetics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9472
  • Type

    jour

  • DOI
    10.1109/TSMC.1986.289299
  • Filename
    4075594
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1054160