Accession Number:

ADA238669

Title:

Configuration Synthesis and Efficient Motion Programming of Robot Manipulators

Descriptive Note:

Final rept. Mar 1987-Dec 1990

Corporate Author:

ILLINOIS UNIV AT CHICAGO CIRCLE DEPT OF MECHANICAL ENGINEERING

Personal Author(s):

Report Date:

1991-03-15

Pagination or Media Count:

6.0

Abstract:

One objective of this research was to study the factors which influence the design of robot arms and wrists configuration synthesis. Another objective was to develop efficient computational software tools for the manipulation of industrial robots. These software tools were to address the critical problems which arise in smooth trajectory planning, inverse kinematics of general robots, dynamic control of realistic robots, and parameter identification and compensation.

Subject Categories:

  • Computer Programming and Software
  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE