Kinematic and dynamic analysis of robot arm

Kazuhiro Kosuge, Katsuhisa Furuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

Kinematic and dynamic analysis of robot arm is discussed from the control point of view. For the static control problem, such as the steady-state force/torque control, the kinematic property is analyzed using the condition number of the Jacobian matrix of the transformation between the joint coordinate and the task coordinate. For the general control problem, such as position and orientation control of the end effector, the kinematic and dynamic property is analyzed using the condition number of the matrix which is representative for the input-output relation of a robot arm and related to the output controllability of the robot system. A simple illustrative example shows that the analysis is also useful for the design problem of robot arms.

Original languageEnglish
Title of host publicationProceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1039-1044
Number of pages6
ISBN (Print)0818606150
DOIs
Publication statusPublished - 1985 Jan 1
Externally publishedYes
Event2nd IEEE International Conference on Robotics and Automation, ICRA 1985 - St. Louis, United States
Duration: 1985 Mar 251985 Mar 28

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2nd IEEE International Conference on Robotics and Automation, ICRA 1985
CountryUnited States
CitySt. Louis
Period85/3/2585/3/28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Kosuge, K., & Furuta, K. (1985). Kinematic and dynamic analysis of robot arm. In Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985 (pp. 1039-1044). [1087278] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1985.1087278