Inverse kinematics for modular reconfigurable robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 1998, Pages 1647-1652

  Chen, I Ming ^a   Yang, Guilin ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATION; INVERSE KINEMATICS; ITERATIVE METHODS; MATRIX ALGEBRA; MODULAR ROBOTS; ROBOTICS; ALGORITHMS; COMPUTATIONAL GEOMETRY; DIFFERENTIAL EQUATIONS; MATHEMATICAL MODELS;

ASSEMBLY CONFIGURATION; AUTOMATED MODEL GENERATIONS; AUTOMATIC GENERATION; DIFFERENTIAL KINEMATICS; INVERSE KINEMATICS SOLUTIONS; NEWTON-RAPHSON ITERATION METHOD; RECONFIGURABLE ROBOT; STANDARDIZED COMPONENTS;

INVERSE PROBLEMS; MOBILE ROBOTS;

ASSEMBLY INCIDENCE MATRIX (AIM); MODULAR RECONFIGURABLE ROBOTS; NEWTON RAPHSON ITERATION METHOD; PRODUCT OF EXPONENTIAL (POE) FORMULAS;

EID: 0031620298     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.677390     Document Type: Conference Paper

References (18)

1. R. Ambrose. Design, Construction and Demonstration of Modular, Reconfigurable Robots. PhD thesis, University of Texas at Austin, U.S.A., 1991.
2. R. Brockett. Robotic manipulators and the product of exponential formula. In Proc. MTNS-83 Int. Sym, pages 120-129, Beer Sheba, Israel, 1983.
3. I. Chen. Theory and Applications of Modular Reconfigurable Robotic Systems. PhD thesis, California Institute of Technology, CA, U.S.A, 1994.
4. I. Chen and J. Burdick. Determining task optimal modular robot assembly configurations. In IEEE Conference on Robotics and Automation, pages 132-137, 1995.
5. I. Chen and G. Yang. Configuration independent kinematics for modular robots. In IEEE Conference on Robotics and Automation, pages 1845-1849, 1996.
6. I Chen and G. Yang. Automatic generation of dynamics for modular robots with hybrid geometry. In IEEE Conference on Rohotzcs and Automatzon, pages 2288-2293, 1997.
7. R. Cohen, M. Lipton, M. Dai, and B. Benhabib. Conceptual design of a modular robot. ASME Journal of Mechanical Deszgn, 114:117-125, March 1992.
8. T. Cormen, C. Leiserson, and R. Rivest. Introductzon to Algorzthms. MIT Press, Cambridge, MA, 1990.
9. M. Curtis. Malrzz Groups. Springer-Verlag, New York, USA, 2 edition, 1984.
10. N. Deo. Graph Theory wzth Applzcatzons to Engzneerzng and Computer Sczence. Prentice-Hall, 1974
11. L. Dobrjanskyj and F. Freudenstein. Some applications of graph theory to the structural analysis of mechanisms. ASME Journal of Engzneerzng for Industry, 89:153-158, 1967.
12. T. Fukuda and S. Nakagawa. Dynamically reconfigurable robotic system. In IEEE Conference on Robotzcs and Automatzon, pages 1581-1586, 1988.
13. p, Khosla, C. Neuman, and F. prinz. An algorithm for seam trackine: Auulications. Internatzonal Journal of Robotzcs Research,-4(i j:27-41, 1985.
14. R. Murray, Z. Li, and s. Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press. 1994.
15. C. Paredis, H. Brown, R. Casciola, J. Moody, and P. Khosla. A rapidly deployable manipulator system. In International Workshop on Some Critical Issues in Robotics, pages 175-185, Singapore, 1995.
16. F. Park and J. Bobrow. A recursive algorithm for robot dynamics using lie groups. In IEEE Conference on Robotics and Automation, pages 1535-1540, 1994.
17. K. Wurst. The conception and construction of a modular robot system. In International Symposium on Industrial Robotics, pages 37-44, 1986.
18. G. Yang and I. Chen. On the inverse kinematics of modular robots. Technical Report TR-MPE-NTU-02-97-01, School of Mechanical and Production Engineering, Nanyang Technological University, Singapore, 1997.