NDLI: A new approach to synthesizing free motions of robotic manipulators based on a concept of unit motions

Content Provider	IEEE Xplore Digital Library
Author	Takayama, K. Kano, H.
Copyright Year	1991
Description	Author affiliation: Int. Inst. for Adv. Study of Social Inf. Sci., Fujitsu Labs. Ltd., Shizuoka, Japan (Takayama, K.; Kano, H.)
Abstract	A concept of unit motions and a new scheme based on it for synthesizing free motions of robotic manipulators are proposed. First, unit motions for free motions having some smoothness properties are defined. Various operations on the free motions that can be executed in a dynamical way are also defined. Then, formal representations of motions by means of the so-called control polygons are presented. Formal representations of operations including joining and separating motions are also presented. Such formal representations yield concise descriptions of motions and operations. Finally, using some simulation examples it is shown how to synthesize free motions. Properties of resulting motions by this approach are described. Conditions for control systems to generate unit motions are also described. The concepts of unit motions and control polygons offer a basis to deal with the motions formally.
Starting Page	1406
Ending Page	1411
File Size	405385
Page Count	6
File Format	PDF
ISBN	078030067X
DOI	10.1109/IROS.1991.174704
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1991-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Motion control Spline Control systems Manipulator dynamics Polynomials Boundary conditions Information science Laboratories Control system synthesis
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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