DocumentCode
489261
Title
Matrix Continued Fraction Algorithms For Inverse Kinematics/Dynamics With Application To Simulation of Supermaneuverable Trajectories On Centrifuges
Author
Repperger, D.W.
Author_Institution
Armstrong Aerospace Medical Research Laboratory, Wright Patterson Air Force Base, Dayton, Ohio 45433-6573
fYear
1991
fDate
26-28 June 1991
Firstpage
3076
Lastpage
3077
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1991
Conference_Location
Boston, MA, USA
Print_ISBN
0-87942-565-2
Type
conf
Filename
4791974
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