Kinematic and dynamic analysis of robot arm

Kazuhiro Kosuge; Katsuhisa Furuta

doi:10.1109/ROBOT.1985.1087278

Kinematic and dynamic analysis of robot arm

Kazuhiro Kosuge, Katsuhisa Furuta

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1039-1044
Number of pages	6
ISBN (Print)	0818606150
DOIs	https://doi.org/10.1109/ROBOT.1985.1087278
Publication status	Published - 1985 Jan 1
Externally published	Yes
Event	2nd IEEE International Conference on Robotics and Automation, ICRA 1985 - St. Louis, United States Duration: 1985 Mar 25 → 1985 Mar 28

Publication series

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

Other

Other	2nd IEEE International Conference on Robotics and Automation, ICRA 1985
Country	United States
City	St. Louis
Period	85/3/25 → 85/3/28

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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Kinematic and dynamic analysis of robot arm. / Kosuge, Kazuhiro; Furuta, Katsuhisa.

Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985. Institute of Electrical and Electronics Engineers Inc., 1985. p. 1039-1044 1087278 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kosuge, K & Furuta, K 1985, Kinematic and dynamic analysis of robot arm. in Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985., 1087278, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1039-1044, 2nd IEEE International Conference on Robotics and Automation, ICRA 1985, St. Louis, United States, 85/3/25. https://doi.org/10.1109/ROBOT.1985.1087278

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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.",

author = "Kazuhiro Kosuge and Katsuhisa Furuta",

year = "1985",

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doi = "10.1109/ROBOT.1985.1087278",

language = "English",

isbn = "0818606150",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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AB - 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.

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BT - Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd IEEE International Conference on Robotics and Automation, ICRA 1985

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ER -

Kinematic and dynamic analysis of robot arm

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