KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL.

Marcelo H. Ang; Vassilios D. Tourassis

KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL.

School of Engineering and Digital Sciences

Research output: Contribution to conference › Paper › peer-review

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
Pages	1-6
Number of pages	6
Publication status	Published - Dec 1 1986

ASJC Scopus subject areas

Engineering(all)

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title = "KINEMATIC ALGORITHMS FOR REAL-TIME ROBOT CONTROL.",

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.",

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