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The inverse kinematics solution, closed-form dynamics and simulation of AdeptOne robot

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1 Author(s)
Goel, P.K. ; Dept. of Electr. Eng., Waterloo Univ., Ont., Canada

An explicit dynamic model of the AdeptOne industrial manipulator is presented. A systematic derivation procedure based on the Euler-Lagrange formulation is used for deriving five nonlinear second-order differential equations of motion. A summary of the arm's inverse kinematics solution for position, velocity and acceleration is included which is accomplished by using a symbolic algebraic matrix manipulation package MAPLE. Extensive simulation results are presented to illustrate the relative significance of inertial (including inertial coupling), velocity-related (Coriolis and centrifugal), and gravity forces which are experienced at the individual joints while a 3-D motion of the hand wrist is executed in real-time. This kind of analysis allows the system cycle time to be minimized, facilitating the efficient implementation of the multivariable control algorithms

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988