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
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;
Conference_Titel :
Electrotechnical Conference, 1994. Proceedings., 7th Mediterranean
Conference_Location :
Antalya
Print_ISBN :
0-7803-1772-6
DOI :
10.1109/MELCON.1994.380913
