Type Selection of Robot and Gripper Kinematic Topology Using Expert Systems-Reference-Cited by-同舟云学术

Type Selection of Robot and Gripper Kinematic Topology Using Expert Systems

Published:1986-06 Issue:2 Volume:5 Page:183-189
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Erdman Arthur G.¹,Thompson Thomas²,Riley Donald R.¹

Affiliation:

1. Productivity Center Department of Mechanical Engineering University of Minnesota Minneapolis, Minnesota 55455

2. Productivity Center Department of Mechanical Engineering University of Minnesota Minneapolis, Minnesota 55455, Thomas Thompson is also afhliated with Control Data Corporation, Arden Hills, Minnesota 55420

Abstract

Robots are used for many different applications including underwater recovery, welding, inspection, pick-and-place operations, space exploration, and assembly. Each task im parts different functional demands on the robot topology including the gripper. An improper choice of the basic kine matic chain may demand sophisticated control algorithms to undo poor type selection. This paper suggests techniques of type synthesis based on graph theory and expert systems that will aid in proper kine matic topology. This new area of kinematic research has high potential for aiding the robot designer.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/027836498600500217

Reference13 articles.

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