Journal ArticleDOI
Position and Velocity Transformations Between Robot End-Effector Coordinates and Joint Angles
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In this article, the authors describe efficient procedures for performing transformations from the position and velocity of the end effector to the corresponding joint angles and velocities, and vice versa, for a six-degree-of-freedom robot manipulator having three revolute joint axes intersecting at the wrist.Abstract:
This paper describes efficient procedures for performing transformations from the position and velocity of the end effector to the corresponding joint angles and velocities, and vice versa, for a six-degree-of-freedom robot manipulator having three revolute joint axes intersecting at the wrist. Some attention is paid to the problems that arise when the manipulator's position is near a deadpoint.read more
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Journal ArticleDOI
Constructing force-closure grasps
TL;DR: This paper presents fast and simple algorithms for directly constructing force-closure grasps based on the shape of the grasped object, and shows that most nonmarginal equilibriumGrasps are force- closuregrasps.
Journal ArticleDOI
A complete generalized solution to the inverse kinematics of robots
TL;DR: An iterative solution is presented that is suitable for any class of robots having rotary or prismatic joints, with any arbitrary number of degrees of freedom, including both standard and kinematically redundant robots.
Proceedings ArticleDOI
Constructing force-closure grasps
TL;DR: The force closure constraint is addressed from three different points of view: mathematics, physics, and computational geometry, and the last formulation results in fast and simple polynomial time algorithms for directly constructing force closure grasps.
Journal ArticleDOI
Artificial intelligence and robotics
TL;DR: Robotics challenges AI by forcing it to deal with real objects in the real world by adapting techniques and representations developed for purely cognitive problems to meet the challenge.
References
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Book
The kinematics of manipulators under computer control
TL;DR: A set of heuristics is developed for moving a six degree-of-freedom manipulator from an initial position to a final position through a space containing obstacles, which results in a computer program shown to be able to direct a manipulator around obstacles.
Book
Analysis of mechanisms and robot manipulators
TL;DR: The Cognitive Driving Framework: Joint Inference for Collision Prediction and Avoidance in Autonomous Vehicles, and Proceedings of the 15th International Conference on Control, Automation, and Systems, Busan, Korea, Oct 2015.
Journal ArticleDOI
A Study of Computer Control of Motion of a Mechanical Arm : 1st Report, Calculation of Coordinative Motion Considering Singuler Points
TL;DR: This study deals with the manipulator control problem from the dynamical standpoint where the time factor plays an important role and a method of calculation of the global coordinative motion is proposed.