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contributor authorK. Sugimoto
date accessioned2017-05-08T23:18:31Z
date available2017-05-08T23:18:31Z
date copyrightJune, 1984
date issued1984
identifier issn1050-0472
identifier otherJMDEDB-28040#222_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/98803
description abstractThe 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.
publisherThe American Society of Mechanical Engineers (ASME)
titleDetermination of Joint Velocities of Robots by Using Screws
typeJournal Paper
journal volume106
journal issue2
journal titleJournal of Mechanical Design
identifier doi10.1115/1.3258583
journal fristpage222
journal lastpage227
identifier eissn1528-9001
keywordsRobots
keywordsScrews
keywordsMotion
keywordsSampling (Acoustical engineering)
keywordsTrajectories (Physics)
keywordsComputation AND End effectors
treeJournal of Mechanical Design:;1984:;volume( 106 ):;issue: 002
contenttypeFulltext


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