Title :
Robot´s manipulators: Simulation and identification of configurations, execution of prescribed trajectories
Author :
Litvin, F.L. ; Castelli, V. Parenti
Author_Institution :
University of Illinois at Chicago
Abstract :
The authors proposed methods: (i) for determination of special link positions, (ii) computer aided simulation and identification of manipulator configurations and (iii) execution of prescribed trajectories. Examples of application are given for the Cincinnati Milacron Manipulator and Unimation Puma Manipulator.
Keywords :
Assembly; Computational modeling; Differential equations; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Nonlinear equations; Robotics and automation; Robots;
Conference_Titel :
Robotics and Automation. Proceedings. 1984 IEEE International Conference on
DOI :
10.1109/ROBOT.1984.1087165
