Title :
Comments on "An Exact Kinematic Model of the PUMA 600 Manipulator"
Author :
Whitney, Daniel E. ; Shamma, Jeff S.
Author_Institution :
C. S. Draper Laboratory, Inc., 555 Technology Square, Cambridge, MA 02139, USA
Abstract :
Bazerghi et al. present an "exact kinematic model of the PUMA." It appears to be a model of the PUMA\´s internal software model rather than a model of the PUMA itself. Other sources of information about nominal parameter values in the PUMA\´s internal software model are compared with actual parameter values obtained from calibrations of two PUMA 560 manipulators. It has been shown that the actual PUMA and its internal model disagree about tool tip position, typically by several millimeters.
Keywords :
Application software; Decision making; Delta modulation; Environmental management; Fuzzy sets; Fuzzy systems; Kinematics; Linear programming; Testing; Time sharing computer systems;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMC.1986.289299
