Title :
Manipulator kinematics and the epsilon algebra
Author :
Walker, Michael W.
Author_Institution :
University of Michigan Ann Arbor, Michigan
Abstract :
A new algebra is defined for use in problems of manipulator kinematics. With this algebra the solution to the inverse kinematics problem can be solved for any time derivative of the joint position using the same program by simply changing the order of the algebra. An example Ada program is used for illustration.
Keywords :
Acceleration; Algebra; Angular velocity; Cities and towns; Closed-form solution; Equations; Inverse problems; Kinematics; Wrist;
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
DOI :
10.1109/ROBOT.1987.1088009
