DocumentCode
2503635
Title
Object-oriented representation of a robot manipulator
Author
Zontul, Haluk ; Ersak, Aydin
Author_Institution
Dept. of Electr. & Electron. Eng., Middle East Tech. Univ., Ankara, Turkey
fYear
1994
fDate
12-14 Apr 1994
Firstpage
363
Abstract
The paper presents an object-oriented representation of a robot manipulator. The representation developed here is appropriate to implement a robot simulation package. The software package is easy to use and gives insight to the robot kinematics, the dynamics and the control subjects. The robot representation has been tested in resolved motion rate control and hybrid position/force control applications
Keywords
digital simulation; force control; manipulator dynamics; manipulator kinematics; motion control; object-oriented methods; position control; software packages; hybrid position/force control; motion rate control; object-oriented representation; robot dynamics; robot kinematics; robot manipulator; robot simulation package; software package; Education; Force control; Jacobian matrices; Manipulator dynamics; Motion control; Object oriented modeling; Packaging; Position control; Robot kinematics; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrotechnical Conference, 1994. Proceedings., 7th Mediterranean
Conference_Location
Antalya
Print_ISBN
0-7803-1772-6
Type
conf
DOI
10.1109/MELCON.1994.380913
Filename
380913
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