SME MS910340 PDF

Name: SME MS910340 PDF
Brand: Society of Manufacturing Engineers
SKU: sme-ms910340_920680

Name:
SME MS910340 PDF

Published Date:
06/01/1991

Status:
Active

Description:

Adaptive, Singularity Avoiding, Trajectory Generating Algorithms For A Four-Jointed Robot Wrist

Publisher:
Society of Manufacturing Engineers

Document status:

Active

Format:

Electronic (PDF)

Delivery time:

10 minutes

Delivery time (for Czech version):

200 business days

SKU:

sme-ms910340_920680

IN THIS PAPER, A NEW ALGORITHM IS DEVELOPED TO OVERCOME SINGULARITY BY MAKING THE CONSTRAINT FUNCTION AN ADAPTIVE NATURE. THE KINEMATIC CONTROL ALGORITHM POSSESSES THE INTELLIGENCE TO RECOGNIZE IF A CURRENTLY USED CONSTRAINT FUNCTION IS APPROACHING ONE OF ITS ASSOCIATED SINGULARITIES. IF SO, THE ALGORITHM THEN SMOOTHLY CHANGES THE CONSTRAINT FUNCTION INTO ONE WHICH AVOIDS THIS SINGULARITY.

Number of Pages :	32
Published :	06/01/1991

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