Kinematic and dynamic analysis of robot arm

Kazuhiro Kosuge, Katsuhisa Furuta

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1039-1044
ページ数6
ISBN(印刷版)0818606150
DOI
出版ステータスPublished - 1985 1 1
外部発表はい
イベント2nd IEEE International Conference on Robotics and Automation, ICRA 1985 - St. Louis, United States
継続期間: 1985 3 251985 3 28

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)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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