Title :
Algorithms for design and motion synthesis of a planar closed-loop robot
Author :
Shirkhodaie, Amlr H. ; Soni, A.H.
Author_Institution :
Dept. of Mech. Eng., Cincinnati Univ., OH, USA
Abstract :
A planar three-degree-of-freedom robot is designed and fabricated with a built-in forward an inverse kinematic algorithm. The robot may be programmed to generate planar enveloping curves; in the generator (tool) is an infinite line. Several examples are presented to illustrate the forward and inverse design of this particular planar robot for generation of algebraic curves
Keywords :
control system synthesis; kinematics; robots; algebraic curves; design; forward kinematics; inverse kinematic; motion synthesis; planar closed-loop robot; Algorithm design and analysis; Character generation; Equations; Manufacturing industries; Manufacturing systems; Mechanical engineering; Orbital robotics; Polynomials; Robot kinematics; Service robots;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12060
