Embedding statistics and Fourier transform towards the harmonic modelling of robot manipulators

Author

Machado, J. A Tenreiro ; Galhano, A.M.S.F.

Author_Institution

Dept. de Engenharia Electrotecnica e de Computadores, Porto Univ., Portugal

fYear

1997

fDate

7-9 Jul 1997

Firstpage

479

Lastpage

484

Abstract

A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyse. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimisation of the robot kinematics and point out structural characteristics of the trajectory planning algorithms

Keywords

Fourier transforms; differential equations; manipulator kinematics; optimisation; path planning; statistical analysis; Fourier transform; differential equations; harmonic modelling; kinematics; robot manipulators; statistical analysis; system descriptions; trajectory planning; Design engineering; Differential equations; Fourier transforms; Kinematics; Manipulators; Mathematical model; Physics; Robots; Statistics; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620225

Filename

620225