DocumentCode
2528755
Title
A unified approach to manipulator modeling
Author
Walker, Michael W.
Author_Institution
Clemson University Clemson, S. C.
Volume
2
fYear
1985
fDate
31107
Firstpage
729
Lastpage
736
Abstract
It is recognized that three different types of mechanisms are required to model a manipulator in most applications. Those are the serial-link, tree structured, and graph structured mechanisms. The model for each type of mechanism is presented in both the recursive and nonrecursive formulations utilizing the same notation throughout. The result is a modeling methodology which clearly shows the relationships between the models of the different types of mechanisms and formulations.
Keywords
Application software; Control system synthesis; Electrical equipment industry; Equations; Industrial control; Industrial relations; Manipulator dynamics; Position control; Tree graphs; Turning;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1985 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1985.1087235
Filename
1087235
Link To Document