Kinematic control of robot with degenerate wrist
L. K. Barker, Mary C. Moore, United States. National Aeronautics and Space Administration. Scientific and Technical Information Branch
National Aeronautics and Space Administration, Scientific and Technical Information Branch, 1984 - Computers - 37 pages
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9 cos 9 9 in equation 9 sin 9 angle rates 9 appendix arm in figure axis for movement brief delay Commanded hand rotational commanded rotational velocity commanded value computing 9 control a robot control the robot control with rate coordinate system deg/sec deg/ss degenerate condition degenerate region degenerate wrist condition Denavit-Hartenberg parameters entail infinite joint equa equation 15 figure 9(b hand axis system hand rotational rates individual joints infinite joint angle Jacobian matrix joint angle rates joint axis systems Keith Barker Langley Research Center magnitude matrix from coordinate motion NASA operator commands orientation produce unwanted responses rate limiting Resolved-Rate Control resolved-rate equations robot arm robot hand axis robot hand rotates robot wrist second wrist joint sign of 9 three rotational joints translational velocity variation in 94 Velocity From Joints velocity of robot wrist is degenerate Wrist joint angle wrist joint axis wrist to locate