Task Oriented Design of Robot Kinematics using Grid Method

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This paper presents a Task Oriented Design method for robot kinematics based on grid method, widely used in finite difference method and heat transfer/fluid flow analyses. This approach drastically reduces complexities and computational burden due to previous approaches. More specifically, the grid method with a new formulation simplifies the design to a problem of three-design-variable unit grid, which does not require to solve inverse/ forward kinematics. The effectiveness of the grid method has been confirmed through a kinematics design of a planar robot for nuclear power plants and a spatial robot.
Publisher
HWRS
Issue Date
2002-01
Citation

International Workshop on Human-friendly Welfare Robotic Systems, pp.10-21

URI
http://hdl.handle.net/10203/25302
Appears in Collection
ME-Conference Papers(학술회의논문)

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