Advanced Robotics: 1989: Proceedings of the 4th - download pdf or read online

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

ISBN-10: 3642839576

ISBN-13: 9783642839573

ISBN-10: 3642839592

ISBN-13: 9783642839597

The Fourth overseas convention on complex 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 used to be held in Versailles, France in October 1987. The overseas convention on complex Robotics is affiliated with the overseas Federation of Robotics. This convention used to be backed through The Ohio country college. the yankee Society of Mechanical Engineers was once a cooperating co-sponsor. the target of the foreign convention on complicated Robotics is to supply a world trade of knowledge related to complex robotics. This was once followed as one of many topics for foreign examine cooperation at a gathering of representatives of 7 industrialized international locations held in Williamsburg, U. S. A. in may well 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, protecting such a lot technical components of robotics. The authors are uncommon. they're leaders within the box of their respective international locations. The overseas convention on complicated Robotics has continuously relatively inspired papers orientated to the layout of robot structures, or to investigate directed at complex purposes in provider robotics, development, nuclear strength, agriculture, mining, underwater structures, and house systems.

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

Sample text

For redundant manipulators, there are an infinite number of configurations which satisfy the inverse kinematic relation in (2), although this paper will show that these infinity of solutions can be grouped into a finite set of smooth manifolds. The redundant degrees of freedom can be used to optimize manipulator properties or perform additional tasks. Consequently, much previous work in redundant manipulator inverse kinematic analysis has been intimately tied to the "redundancy resolution" problem, in which algorithms are developed to determine, or "resolve," the motion of the joints in order to achieve end-effector trajectory control while meeting additional objectives.

Huang, "Review of the Pseudoinverse for Control of Kinematically Redundant Manipulators," IEEE Transactions on Systems, Man and Cybernetics, March, 1983. [2] J. W. D. Thesis, Department of Mechanical Engineering, Stanford University, March 1988. [3] D. H. Gottlieb, "Robots and Topology," Proceedings of the IEEE International Conference on Robotics and Automation, April 7-10, 1987, San Francisco, CA, vol. 3, pp. 1689-1691. [4] D. R. W. Wampler, "Some Facts Concerning Inverse Kinematics for Redundant Manipulators," Proceedings of the IEEE International Conference on Robotics and Automation, March 30-April 3, 1987, Raleigh, NC.

Some interpretations of the instantaneous solutions in (4) will be considered, but because of space limitations, practical applications of these ideas to redundancy resolution and path planning are only briefly considered. This work is based on a manifold mapping reformulation which considers the aggregate action of the kinematic and inverse kinematic maps on the configuration space manifold. This approach was introduced in [2], and this papers summarizes and corrects some of this work. This approach allows simple topological tools, to be applied to the study of manipulator kinematics.

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Advanced Robotics: 1989: Proceedings of the 4th International Conference on Advanced Robotics Columbus, Ohio, June 13–15, 1989 by M. Kaneko, K. Yokoi, K. Tanie (auth.), Kenneth J. Waldron (eds.)


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