Showing papers on "Robot kinematics published in 1981"

A Structured Approach to Robot Programming and Teaching

Abstract: A structured programming and teaching system is described for a robot manipulator where stress is laid on the consistent integration of programming and teaching. In the PAL programming system being developed at Purdue University, tasks are represented in terms of structured Cartesian coordinates. Every motion statement is a request to position and orient the manipulator such that a position equation, representing a closed kinematic chain of homogeneous transformations, is satisfied. In the teaching process, the transformation which represents the position of the end of the manipulator is defined using the manipulator itself, and an equation relating any undefined transformations is obtained. By defining these equations during the interpretation of the task program and progressively solving them, the task is taught. The method is applicable both to practical industrial robot control and to intelligent robot control.

Simplified robot arm dynamics for control

Abstract: A brief summary and evaluation is presented on the use of symbolic state equation techniques in order to rapresent robot arm dynamics with sufficient accuracy for controlling arm motion. The use of homogeneous transformations and the Lagrangian formulation of mechanics offers a convenient frame for the derivation, analysis and simplification of complex robot dynamics equations. It is pointed out that simplified state equations can represent robot arm dynamics with good accuracy.

A Computer-Aided Robotic Arm/Worktable System for the High-Level Quadriplegic

Abstract: Opening the door to self-reliance for quadriplegics, this system provides manipulative capability for doing several tasks without assistance—including typing and using a computer.

Integrating robot manipulator control into PASCAL

Abstract: Manipulator motion and end-effector commands are integrated into PASCAL by means of two real-time event-driven asynchronous processes. Communication and synchronization between processes is by means of procedures and global variables. Homogeneous transforms and transform equations, which form the basis of robot manipulator task descriptions, are represented by records and linked dynamic variables. Combining a robot manipulator control system, based on homogeneous transformation, with a general purpose programming language results in an extremely powerful robot control system which is simple to understand and would be easy to develop.