NDLI: Coordinate Transformation: A Solution Algorithm for One Class of Robots

Content Provider	IEEE Xplore Digital Library
Author	Sciavicco, Lorenzo Siciliano, Bruno
Copyright Year	1971
Description	One of the most important features of an advanced control system for articulated robots is the capability of transforming the work space coordinates, which naturally characterize any robot task, into the corresponding joint coordinates, on which control actions are developed. For each task, the coordinate transformation problem consists in calculating one trajectory in the joint space which corresponds to the end effector trajectory, usually given in the Cartesian space. While simple kinematical structures allow for closed-form solutions, there is a class of robots for which this is not true. Typical articulated robot structures have three revolute joints at the end effector; the geometric parameters of these joints actually determine the spatial configuration of the last axes of motion. The large majority of today's nonredundant structures have three intersecting axes at the end effector, and closed form solutions do exist in this case. If the axes intersect two-by-two, as in some rather common arm design, an exact solution seems not to exist. A quite different solution algorithm is established, as compared to the trigonometric approach widely adopted so far, which yields solutions in case of two-by-two intersecting axes. The convergence of the algorithm along any trajectory is proved. Effectiveness of the proposed technique can be argued by the fact that it only makes use of direct kinematics, thus resulting in a contained computational burden. A robot prototype of the kind described above is taken as a reference in order to discuss digital implementation and develop numerical examples.
Starting Page	550
Ending Page	559
Page Count	10
File Size	1628367
File Format	PDF
ISSN	00189472
Volume Number	16
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1986-07-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics End effectors Orbital robotics Closed-form solution Control systems Prototypes Iterative methods Equations Manipulator dynamics
Content Type	Text
Resource Type	Article
Subject	Engineering

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