DocumentCode
880605
Title
Manipulator kinematics and the epsilon algebra
Author
Walker, Michael W.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
Volume
4
Issue
2
fYear
1988
fDate
4/1/1988 12:00:00 AM
Firstpage
186
Lastpage
192
Abstract
An algebra is defined for use in problems of manipulator kinematics. With this algebra, one can program the solution to the kinematics in position problems, and use this same program to solve the kinematics problems in velocity and acceleration. The inverse kinematics part of the program can be used to obtain any order time-derivative of the joint positions. Some of the properties of the algebra are shown and functions of the elements of the algebra are defined. The solution to the forward and inverse kinematics problem is presented, and the use of the Ada programming language is discussed
Keywords
algebra; kinematics; position control; robots; epsilon algebra; forward kinematics; inverse kinematics; manipulator kinematics; position control; robots; time-derivative; Acceleration; Algebra; Angular velocity; Closed-form solution; Equations; Helium; Inverse problems; Kinematics; Robotics and automation; Wrist;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/56.2082
Filename
2082
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