Title :
Graph-theoretic models for simulating robot manipulators
Author :
Chou, Jack C K ; Baciu, George ; Kesavan, H.K.
Author_Institution :
University of Waterloo, Waterloo, Ontario, Canada
Abstract :
The graph-theoretic models of a prismatic joint, a revolute joint, and an open kinematic chain are presented. The Denavit-Hartenberg representation of linkages is encompassed within the general framework of graph-theoretic system theory. The final mathematical model derived by this formalism is a system of differential and algebraic equations.
Keywords :
Couplings; Design engineering; Equations; Inverse problems; Lifting equipment; Manipulators; Marine vehicles; Mathematical model; Robot kinematics; Systems engineering and theory;
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
DOI :
10.1109/ROBOT.1987.1087857
