DocumentCode :
1833055
Title :
Symbolic computation of robot manipulator kinematics
Author :
Herrera-Bendezu, Luis G. ; Mu, Eduardo ; Cain, James T.
Author_Institution :
Dept. of Electr. Eng., Pittsburgh Univ., PA, USA
fYear :
1988
fDate :
24-29 Apr 1988
Firstpage :
993
Abstract :
A software package has been developed to solve, symbolically, the direct and inverse kinematics of an n-degree-of-freedom manipulator. As an input, SRAST (symbolic robot arm solution tool) expects the corresponding parameters described by Denavit and Hartenberg (1955). As an output it generates (in closed form) the direct- and inverse-kinematics solutions. When solving the inverse kinematics it is capable of excluding solutions with the n, o, and a vectors, dealing with redundant manipulators, and documenting how the solutions were found. SRAST implements its own symbolic processor and makes use of artificial intelligence techniques. To solve the inverse kinematics, eleven trigonometric rules are heuristically applied to identify a mathematical set of solutions. SRAST has successfully solved a number of industrial manipulators. At present it is the only software package capable of generating the inverse kinematics in symbolic form
Keywords :
computer aided analysis; expert systems; kinematics; robots; software packages; Devavit-Hartenburg parameters; SRAST; artificial intelligence; expert-system-like structure; heuristic programming; inverse kinematics; redundant manipulators; robot manipulator kinematics; software package; symbolic processor; symbolic robot arm solution tool; trigonometric rules; Artificial intelligence; Closed-form solution; Manipulators; Nonlinear equations; Orbital robotics; Path planning; Polynomials; Robot kinematics; Service robots; Software packages;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
Type :
conf
DOI :
10.1109/ROBOT.1988.12190
Filename :
12190
Link To Document :
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