Search
Now showing items 1-3 of 3
Redundancy Resolution of Manipulators through Torque Optimization
(1986-01-01)
Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the ...
Estimation of Inertial Parameters of Rigid Body Links of Manipulators
(1986-02-01)
A method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the ...
On Multiple Moving Objects
(1986-05-01)
This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the ...