Determination of Joint Velocities of Robots by Using ScrewsSource: Journal of Mechanical Design:;1984:;volume( 106 ):;issue: 002::page 222Author:K. Sugimoto
DOI: 10.1115/1.3258583Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The screw theory is applied to determination of joint velocities of robot arms. The method described in this paper can be directly used for the straight line trajectory control of existing industrial robots. Joint velocities are computed by taking inner products of two kinds of screws, one of which is an element of an orthogonal basis of the screw system composed of joint screws and another is the screw representing an instantaneous motion of an end effector. The computation can be performed during a sampling period while a robot is in motion.
keyword(s): Robots , Screws , Motion , Sampling (Acoustical engineering) , Trajectories (Physics) , Computation AND End effectors ,
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| contributor author | K. Sugimoto | |
| date accessioned | 2017-05-08T23:18:31Z | |
| date available | 2017-05-08T23:18:31Z | |
| date copyright | June, 1984 | |
| date issued | 1984 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28040#222_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/98803 | |
| description abstract | The screw theory is applied to determination of joint velocities of robot arms. The method described in this paper can be directly used for the straight line trajectory control of existing industrial robots. Joint velocities are computed by taking inner products of two kinds of screws, one of which is an element of an orthogonal basis of the screw system composed of joint screws and another is the screw representing an instantaneous motion of an end effector. The computation can be performed during a sampling period while a robot is in motion. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Determination of Joint Velocities of Robots by Using Screws | |
| type | Journal Paper | |
| journal volume | 106 | |
| journal issue | 2 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3258583 | |
| journal fristpage | 222 | |
| journal lastpage | 227 | |
| identifier eissn | 1528-9001 | |
| keywords | Robots | |
| keywords | Screws | |
| keywords | Motion | |
| keywords | Sampling (Acoustical engineering) | |
| keywords | Trajectories (Physics) | |
| keywords | Computation AND End effectors | |
| tree | Journal of Mechanical Design:;1984:;volume( 106 ):;issue: 002 | |
| contenttype | Fulltext |