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Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator systemAn algorithm is proposed for automatically generating both the forward and inverse kinematics of a serial-link N-degree-of-freedom reconfigurable manipulator (RM). Generation of the kinematic equations that govern a modular manipulator starts with geometric descriptions of the units, or modules, as well as their sequence in the manipulator. This geometric information is used to obtain the Denavit-Hartenberg (DH) parameters of an RM. The DH kinematic parameters are then used to obtain the forward kinematic transformation of the system. The problem of obtaining the inverse kinematics of RMs is addressed, and the idea of scaling an RM to automate the inverse kinematics and make the procedure as general as possible is proposed.
Document ID
19900057590
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Kelmar, Laura
(NIST Gaithersburg, MD, United States)
Khosla, Pradeep K.
(Carnegie-Mellon University Pittsburgh, PA, United States)
Date Acquired
August 14, 2013
Publication Date
August 1, 1990
Publication Information
Publication: Journal of Robotic Systems
Volume: 7
ISSN: 0741-2223
Subject Category
Cybernetics
Accession Number
90A44645
Funding Number(s)
CONTRACT_GRANT: NAG5-1091
CONTRACT_GRANT: DE-FG02-89ER-14042
Distribution Limits
Public
Copyright
Other

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