Title :
Matrix Continued Fraction Algorithms For Inverse Kinematics/Dynamics With Application To Simulation of Supermaneuverable Trajectories On Centrifuges
Author_Institution :
Armstrong Aerospace Medical Research Laboratory, Wright Patterson Air Force Base, Dayton, Ohio 45433-6573
Abstract :
By viewing a centrifuge simulator as a 3 revolute axes robot manipulator, the solution of the inverse kinematics problem associated with the simulation of a motion field is studied. A Matrix Continued Fraction algorithm is introduced to assist the solution involving a Damped Least Squares procedure.
Keywords :
Aerodynamics; Aerospace simulation; Computational modeling; End effectors; Equations; Jacobian matrices; Manipulator dynamics; Medical simulation; Robot kinematics; Vectors;
Conference_Titel :
American Control Conference, 1991
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-87942-565-2
