920680

SME MS910340

Adaptive, Singularity Avoiding, Trajectory Generating Algorithms For A Four-Jointed Robot Wrist

standard by Society of Manufacturing Engineers , 06/01/1991

Lee, Wei-Ming

View all product details

Most Recent

Language:
    • Available Formats
    •  
    • Availability
    • Priced From ( in USD )
    • Printed Edition
    • Ships in 1-2 business days
    • $18.00
    • Add to Cart

Customers Who Bought This Also Bought

 

About This Item

 

Full Description

IN THIS PAPER, A NEW ALGORITHM IS DEVELOPED TO OVERCOME SINGULARITY BY MAKING THE CONSTRAINT FUNCTION AN ADAPTIVE NATURE. THE KINEMATIC CONTROL ALGORITHM POSSESSES THE INTELLIGENCE TO RECOGNIZE IF A CURRENTLY USED CONSTRAINT FUNCTION IS APPROACHING ONE OF ITS ASSOCIATED SINGULARITIES. IF SO, THE ALGORITHM THEN SMOOTHLY CHANGES THE CONSTRAINT FUNCTION INTO ONE WHICH AVOIDS THIS SINGULARITY.
 

Product Details

Published:
06/01/1991
Number of Pages:
32
File Size:
1 file , 1.5 MB