Abstract
Real-time robot control requires efficient inverse kinematics transformations to compute the temporal evolution of the joint coordinates from the motion of the end-effector. For this purpose, a general-purpose framework, incorporating position, velocity, and acceleration, is developed. The computation requirements of a novel inverse kinematic algorithm are delineated. The algorithm is applicable to serial (open-channel) manipulators with arbitrary axes of motion. Comparative evaluations of the computational cost of the algorithm demonstrate its feasibility for real-time applications.
| Original language | English |
|---|---|
| Title of host publication | Unknown Host Publication Title |
| Publisher | IEEE |
| Pages | 1-6 |
| Number of pages | 6 |
| Publication status | Published - 1986 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL. / Ang, Marcelo H.; Tourassis, Vassilios D.
Unknown Host Publication Title. IEEE, 1986. p. 1-6.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL.
AU - Ang, Marcelo H.
AU - Tourassis, Vassilios D.
PY - 1986
Y1 - 1986
N2 - Real-time robot control requires efficient inverse kinematics transformations to compute the temporal evolution of the joint coordinates from the motion of the end-effector. For this purpose, a general-purpose framework, incorporating position, velocity, and acceleration, is developed. The computation requirements of a novel inverse kinematic algorithm are delineated. The algorithm is applicable to serial (open-channel) manipulators with arbitrary axes of motion. Comparative evaluations of the computational cost of the algorithm demonstrate its feasibility for real-time applications.
AB - Real-time robot control requires efficient inverse kinematics transformations to compute the temporal evolution of the joint coordinates from the motion of the end-effector. For this purpose, a general-purpose framework, incorporating position, velocity, and acceleration, is developed. The computation requirements of a novel inverse kinematic algorithm are delineated. The algorithm is applicable to serial (open-channel) manipulators with arbitrary axes of motion. Comparative evaluations of the computational cost of the algorithm demonstrate its feasibility for real-time applications.
UR - http://www.scopus.com/inward/record.url?scp=0022942671&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0022942671&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0022942671
SP - 1
EP - 6
BT - Unknown Host Publication Title
PB - IEEE
ER -