DocumentCode
2539422
Title
Graph-theoretic models for simulating robot manipulators
Author
Chou, Jack C K ; Baciu, George ; Kesavan, H.K.
Author_Institution
University of Waterloo, Waterloo, Ontario, Canada
Volume
4
fYear
1987
fDate
31837
Firstpage
953
Lastpage
959
Abstract
The graph-theoretic models of a prismatic joint, a revolute joint, and an open kinematic chain are presented. The Denavit-Hartenberg representation of linkages is encompassed within the general framework of graph-theoretic system theory. The final mathematical model derived by this formalism is a system of differential and algebraic equations.
Keywords
Couplings; Design engineering; Equations; Inverse problems; Lifting equipment; Manipulators; Marine vehicles; Mathematical model; Robot kinematics; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1087857
Filename
1087857
Link To Document