Robot Motion and Task Planning:Simulation and Programming of a Robot Arm
作者:
Iqbal Tabani,
Akbar Montaser,
期刊:
Instrumentation Science & Technology
(Taylor Available online 1987)
卷期:
Volume 16,
issue 3
页码: 385-398
ISSN:1073-9149
年代: 1987
DOI:10.1080/10739148708543652
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
A robot simulation system has been developed to assist in robot task planning and control data programming. The system allows simulation of the robot manipulator on the CRT by taking into consideration the kinematics and dynamics of the robot arm. The architecture of the robot simulation system is presented. Description of robot positional kinematics is given by the use of geometrical model and its extension to homogeneous transformation. Several simulated robot arm positions are shown to illustrate the kinematic model.
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