A novel method for the modelling of mechanical manipulators

Author

Machado, J. A Tenreiro ; Galhano, Alexandera M S F

Author_Institution

Fac. de Engenharia, Porto Univ., Portugal

fYear

1997

Firstpage

860

Abstract

A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a nonstandard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyse. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimisation of the robot kinematics and point out structural characteristics of the trajectory planning algorithms

Keywords

Fourier analysis; control system analysis; manipulator kinematics; optimisation; path planning; statistical analysis; Fourier modelling; guidelines; mathematical concepts; mechanical manipulators; modelling method; nonstandard formulation; robot kinematics optimisation; robot manipulators; statistical approach; structural characteristics; trajectory planning algorithms; Design engineering; Differential equations; Fourier transforms; Kinematics; Manipulators; Mathematical model; Physics; Robots; Statistics; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 1997. ISIE '97., Proceedings of the IEEE International Symposium on

Conference_Location

Guimaraes

Print_ISBN

0-7803-3936-3

Type

conf

DOI

10.1109/ISIE.1997.648827

Filename

648827