KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL.

Marcelo H. Ang, Vassilios D. Tourassis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1-6
Number of pages6
Publication statusPublished - 1986
Externally publishedYes

Fingerprint

Kinematics
Inverse kinematics
Robots
End effectors
Manipulators
Costs

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ang, M. H., & Tourassis, V. D. (1986). KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL. In Unknown Host Publication Title (pp. 1-6). IEEE.

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 proceedingConference contribution

Ang, MH & Tourassis, VD 1986, KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL. in Unknown Host Publication Title. IEEE, pp. 1-6.
Ang MH, Tourassis VD. KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL. In Unknown Host Publication Title. IEEE. 1986. p. 1-6
Ang, Marcelo H. ; Tourassis, Vassilios D. / KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL. Unknown Host Publication Title. IEEE, 1986. pp. 1-6
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