Download Advanced Robotics: 1989: Proceedings of the 4th by M. Kaneko, K. Yokoi, K. Tanie (auth.), Kenneth J. Waldron PDF

By M. Kaneko, K. Yokoi, K. Tanie (auth.), Kenneth J. Waldron (eds.)

The Fourth foreign convention on complicated Robotics used to be held in Columbus, Ohio, U. S. A. on June thirteenth to fifteenth, 1989. the 1st meetings during this sequence have been held in Tokyo. The 3rd was once held in Versailles, France in October 1987. The foreign convention on complicated Robotics is affiliated with the foreign Federation of Robotics. This convention was once subsidized by way of The Ohio kingdom college. the yank Society of Mechanical Engineers was once a cooperating co-sponsor. the target of the overseas convention on complex Robotics is to supply a global alternate of data relating to complex robotics. This was once followed as one of many topics for foreign learn cooperation at a gathering of representatives of 7 industrialized nations held in Williamsburg, U. S. A. in might 1983. the current convention is actually overseas in personality with contributions from authors of twelve nations. (Bulgaria, Canada, France, nice Britain, India, Italy, Japan, Peoples Republic of China, Poland, Republic of China, Spain, usa of America.) the subject material of the papers is both diversified, masking such a lot technical parts of robotics. The authors are exclusive. they're leaders within the box of their respective nations. The foreign convention on complex Robotics has constantly fairly inspired papers orientated to the layout of robot structures, or to investigate directed at complicated purposes in carrier robotics, development, nuclear energy, agriculture, mining, underwater structures, and area systems.

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Extra info for Advanced Robotics: 1989: Proceedings of the 4th International Conference on Advanced Robotics Columbus, Ohio, June 13–15, 1989

Example text

In 1968, Pieper [1] analytically solved the inverse problem for robots with three concurrent joint axes. Duffy [2] further found some special geometry manipulators can be solved analytically. Since then many methods has been presented to solve the 36 inverse kinematic problem: Paul [3,4] by homogeneous transformation; Lee [5] by geometric method; Pennock and Yang [6] by dual number approach; Tsai and Maorgan [7] by continunation method. However, the problem involves solving highly non-linear equations.

Many papers have presented algorithms in this aspect [3, 11-13]. Modern robots are built for high speed and high accuracy applications. The dynamic model of mechanical manipulator is the key to Many methods have been study the response of the manipulator. postulated to model the robot dynamic behavior. They are the NewtonEuler Method [14], Lagrange Method [15], Kane's Method [16], and Lagrange-Christoffel Method [17]. Although those method are well developed, the derivation of dynamic equations are very tedious and error-prone.

I ~CJ I 83 r- I ~ Figure 5: Geometry of a 4R Elbow-Like Manipulator / Figure 6: 4R Manipulator Self-Motion Manifolds 4. Determining the Number of Self-Motions What physical conditions determine whether there are one or two self-motion manifolds in Figure 4, and what is an upper bound on the number of self-motions? The inverse kinematic solution in (8) was found by a reassembly approach. ,) by a virtual revolute joint and the structure is broken into two subcomponents (at joint 3), a non-redundant 2R manipulator and a 1R link.

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