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Inverse kinematic solution for near-simple robots and its application to robot calibrationThis paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.
Document ID
19870053672
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Hayati, Samad A.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Roston, Gerald P.
(California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1986
Subject Category
Mechanical Engineering
Accession Number
87A40946
Distribution Limits
Public
Copyright
Other

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