Title :
A Fast Algorithm for Velocity and Acceleration at Manipulator´s End-effector
Author :
Fei-fei, Wang ; Kai, An
Author_Institution :
Shandong Aerosp. Electro-Technol. Inst., Yantai, China
Abstract :
Differentiating angular displacement and displacement at Manipulator´s end-effectors directly, analysis expressions of angular velocity, linear velocity, angular acceleration and acceleration are given in this paper. According to these expressions, two iterative programs about velocity and acceleration at End-effectors is given as well as. Having no use for counting transform matrix from frame {n-1} to {0} in iterative program, algorithms become simpler and thereby can be used to enhance the property of real-time in Manipulator control.
Keywords :
acceleration control; angular velocity control; end effectors; iterative methods; nonlinear control systems; redundant manipulators; angular acceleration; angular displacement; angular velocity; iterative programs; linear velocity; manipulator control; manipulator end-effector; redundant nonlinear automatic control system; Acceleration; Equations; Joints; Manipulator dynamics; Vectors; Manipulator end-effectors velocity acceleration;
Conference_Titel :
Instrumentation, Measurement, Computer, Communication and Control, 2011 First International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-0-7695-4519-6
DOI :
10.1109/IMCCC.2011.113
