Showing papers on "Revolute joint published in 1983"
TL;DR: In this article, a new method for calculating the acceleration of a robot in response to given actuator forces is described, which is applicable to open-loop kinematic chains containing revolute and prismatic joints.
Abstract: This paper describes a new method for calculating the acceleration of a robot in response to given actuator forces. The method is applicable to open-loop kinematic chains containing revolute and prismatic joints. The algorithm is based on recursive formulas involving quantities called articulated-body inertias, which represent the inertia properties of collections of rigid bodies connected together by joints allowing constrained relative motion between the bodies. A new, matrix-based notation is introduced to represent articulated-body inertias and other spatial quantities. This notation is used to develop the algorithm, and results in a compact representation of the equations. The new algorithm has a computational requirement that varies linearly with the number of joints, and its efficiency is compared with other published algorithms.
590 citations
01 Jan 1983
TL;DR: A general method for estimating serial link manipulator geometric parameter errors is proposed and may be increased significantly by updating the nominal link parameters in the control software to represent the physical system more accurately.
Abstract: A general method for estimating serial link manipulator geometric parameter errors is proposed in this paper. The positioning accuracy of the end-effector may be increased significantly by updating the nominal link parameters in the control software to represent the physical system more accurately. The proposed method is applicable for serial link manipulators with any combination of revolute or prismatic joints, and is not limited to a specific measurement technique.
311 citations
TL;DR: In this article, an efficient algorithm for finding collision-free paths for a manipulator with five or six revolute joints is described, which solves the problem for four-degree-of-freedom pick-and-place operations.
Abstract: An efficient algorithm that finds collision-free paths for a manipulator with five or six revolute joints is described. It solves the problem for four-degree-of-freedom pick-and-place operations. Examples are given of paths found by the algorithm in tightly cluttered workspaces. The algorithm first describes free space in two ways: as freeways for the hand and payload ensemble and as freeways for the upper arm. Freeways match volumes swept out by manipulator motions and can be "inverted" to find a class of topologically equivalent path segments. The two freeway spaces are searched concurrently under projection of constraints deter mined by motion of the forearm.
275 citations
TL;DR: 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.
231 citations
TL;DR: In this paper, an algorithm for finding the boundary of the reachable volume of an arbitrary revolute joint manipulator is presented, where the manipulator has only revolute joints and an arbitrary number of links.
19 citations
TL;DR: In this article, the joint rates required to produce a given velocity at the end effector and the actuator torques required to exert a given force at an end-effector (including gravitational and inertial forces) were calculated using a simple 6R robot with three intersecting revolute joint axes at the wrist.
15 citations
TL;DR: The results of two example applications demonstrate the clear superiority of the pole placement approach over previous minimum variance self-tuning attempts.
9 citations
Proceedings Article•
22 Aug 1983TL;DR: Collision free motions for a manipulator with revolute joints (e.g. a PUMA) are planned through an obstacle littered workspace by first describing free space in two ways: as freeways for the hand and payload ensemble and as freeway for the upperarm.
Abstract: Collision free motions for a manipulator with revolute joints (e.g. a PUMA) are planned through an obstacle littered workspace by first describing free space in two ways: as freeways for the hand and payload ensemble and as freeways for the upperarm. Freeways match volumes swept out by manipulator motions and can be "inverted" to find a class of topologically equivalent path segments. The two freeway spaces are searched concurrently under projection of constraints determined by motion of the forearm.
8 citations
01 Jan 1983
TL;DR: In this article, a general procedure for dynamic analysis of planar mechanisms with multiple clearance angles is developed, which mainly relies on determining the clearance angles βi at mechanism revolute angles.
Abstract: The paper develops a general procedure for the dynamic analysis of planar mechanisms with multiple clearance. The analysis mainly relies on determining the clearance angles βi at mechanism revolute...
7 citations
01 Jan 1983
TL;DR: In this article, a new method for the solution of some non-linear problems in plane lower-pair mechanisms is presented, based on considering the mechanism built up with binary links (bars) with revolute (R) pairs, higher order links can be formed connecting bars in such a way that no relative motion is allowed between them.
Abstract: In this paper we present a new method for the solution of some non-linear problems in plane lower-pair mechanisms.This method is based in considering the mechanism built up with binary links (bars) with revolute (R) pairs, higher order links can be formed connecting bars in such a way that no relative motion is allowed between them; prismatic (P) pairs are also considered.Four different position problems are solved in this work: initial position, finite displacement,static equilibrium and deformated position: The theorical background, software implementation and examples are presented.
2 citations