DocumentCode
2542074
Title
Manipulator kinematics and the epsilon algebra
Author
Walker, Michael W.
Author_Institution
University of Michigan Ann Arbor, Michigan
Volume
4
fYear
1987
fDate
31837
Firstpage
358
Lastpage
364
Abstract
A new algebra is defined for use in problems of manipulator kinematics. With this algebra the solution to the inverse kinematics problem can be solved for any time derivative of the joint position using the same program by simply changing the order of the algebra. An example Ada program is used for illustration.
Keywords
Acceleration; Algebra; Angular velocity; Cities and towns; Closed-form solution; Equations; Inverse problems; Kinematics; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1088009
Filename
1088009
Link To Document