Differential Relationship Of Kinematic Model And Speed Control Strategies For A Computer-controlled Robot Manipulator
Abstract
This paper describes a new approach to obtaining a differential relationship of a robot manipulator via the Theoretical Kinematics method which may expedite computational efforts. The method involves a successive transformation of velocities from the end-effector to the base of the manipulator, link by link, using the relationship of moving coordinate systems. The equations obtained are written in the form suitable for programming on a digital computer. Furthermore, this paper also discusses the speed control model for general robot manipulators and together presents the Inverse Jacobian of cases of underdetermined and overdetermined of joint-controlled variables. © 1986, Cambridge University Press. All rights reserved.
Recommended Citation
C. Y. Ho and S. Jen, "Differential Relationship Of Kinematic Model And Speed Control Strategies For A Computer-controlled Robot Manipulator," Robotica, vol. 4, no. 3, pp. 155 - 162, Cambridge University Press, Jan 1986.
The definitive version is available at https://doi.org/10.1017/S0263574700009334
Department(s)
Mathematics and Statistics
International Standard Serial Number (ISSN)
1469-8668; 0263-5747
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2023 Cambridge University Press, All rights reserved.
Publication Date
01 Jan 1986
