TY - GEN
T1 - Kinematic and dynamic analysis of robot arm
AU - Kosuge, Kazuhiro
AU - Furuta, Katsuhisa
PY - 1985/1/1
Y1 - 1985/1/1
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=0001810880&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0001810880&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1985.1087278
DO - 10.1109/ROBOT.1985.1087278
M3 - Conference contribution
AN - SCOPUS:0001810880
SN - 0818606150
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1039
EP - 1044
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
Y2 - 25 March 1985 through 28 March 1985
ER -