Title :
Coordinate transformations for two industrial robots
Author :
Sadre, Ahmad ; Smith, Richard ; Cartwright, William
Author_Institution :
General Electric Company - IEDL Charlottesville, Virginia
Abstract :
This paper presents two approaches to the solution of the coordinate transformation problem for industrial manipulators: Geometric and Mathematical. A comparison of the two approaches is made and the geometric approach is shown to be the more beneficial although somewhat less systematic.
Keywords :
Computational geometry; Electrical equipment industry; Equations; Jacobian matrices; Manipulators; Position control; Robot kinematics; Service robots;
Conference_Titel :
Robotics and Automation. Proceedings. 1984 IEEE International Conference on
DOI :
10.1109/ROBOT.1984.1087157
