Title :
A statistical and harmonic model for robot manipulators
Author :
Machado, J. A Tenreiro ; Galhano, Alexandra M S F
Author_Institution :
Fac. of Eng., Porto Univ., Portugal
Abstract :
A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard 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 points out structural characteristics of the trajectory planning algorithms
Keywords :
Fourier transforms; manipulator kinematics; path planning; statistical analysis; Fourier modelling; harmonic model; nonstandard formulation; optimisation; robot kinematics; robot manipulators; statistical model; structural characteristics; trajectory planning algorithms; Design engineering; Differential equations; Fourier transforms; Kinematics; Manipulators; Mathematical model; Physics; Robots; Statistics; Trajectory;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614327
