Title :
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
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;
Conference_Titel :
Industrial Electronics, 1997. ISIE '97., Proceedings of the IEEE International Symposium on
Conference_Location :
Guimaraes
Print_ISBN :
0-7803-3936-3
DOI :
10.1109/ISIE.1997.648827
