A statistical and harmonic model for robot manipulators

Author

Machado, J. A Tenreiro ; Galhano, Alexandra M S F

Author_Institution

Fac. of Eng., Porto Univ., Portugal

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1365

Abstract

A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyse. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimisation of the robot kinematics and points out structural characteristics of the trajectory planning algorithms

Keywords

Fourier transforms; manipulator kinematics; path planning; statistical analysis; Fourier modelling; harmonic model; nonstandard formulation; optimisation; robot kinematics; robot manipulators; statistical model; structural characteristics; trajectory planning algorithms; Design engineering; Differential equations; Fourier transforms; Kinematics; Manipulators; Mathematical model; Physics; Robots; Statistics; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614327

Filename

614327