Accession Number:

AD0680036

Title:

THE KINEMATICS OF MANIPULATORS UNDER COMPUTER CONTROL

Descriptive Note:

Corporate Author:

STANFORD UNIV CA DEPT OF COMPUTER SCIENCE

Personal Author(s):

Report Date:

1968-10-24

Pagination or Media Count:

174.0

Abstract:

The kinematics of manipulators is studied. A model is presented which allows for the systematic description of new and existing manipulators. Six degree-of-freedom manipulators are studied. Several solutions to the problem of finding the manipulator configuration leading to a specified position and orientation are presented. Numerical as well as explicit solutions are given. The problem of positioning a multilink digital arm is also discussed. Given the solution to the position problem, a set of heuristics is developed for moving a six degree-of-freedom manipulator from an initial position to a final position through a space containing obstacles. This results in a computer program shown to be able to direct a manipulator around obstacles. Author

Subject Categories:

  • Computer Programming and Software
  • Computer Hardware
  • Test Facilities, Equipment and Methods

Distribution Statement:

APPROVED FOR PUBLIC RELEASE