Affiliation:
1. Department of Mechanical Engineering University of Wisconsin Madison, Wisconsin 53706
Abstract
Off-line planning of tasks and robot motion via the computer- graphics simulation of the robot and its environment is dis cussed. The internal structure and the mathematical basis of a generalized computer program developed for this purpose are described. Methods based on truncated trigonometric series for the off-line planning of robot trajectories and methods for the planning of multiple-segment robot motions with minimum cycle times are presented. The dynamic aspects of motion trajectories are discussed in relation to the generation of these time-optimal motions.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Reference26 articles.
1. Solving the find-path problem by good representation of free space
2. A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
3. Derby, S.J. 1982a. General robot arm simulation program (GRASP): Parts 1 and 2. ASME Comput. Engr. Conf., San Diego, pp. 139-154.
4. Derby, S.J. 1982b. Computer graphics robot simulation programs: a comparison. Robotics research and advanced applications, ASME Pub., edited by W. J. Book:203-211.
5. Simulating Motion Elements of General-Purpose Robot Arms
Cited by
22 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献