CONCEPTUAL MODELING OF MANIPULATORS IS CONSIDERED A TOOL FOR UNDERSTANDING THEIR MOST IMPORTANT PROPERTIES AS WELL AS FOR THE STUDY OF THEIR KINEMATIC AND DYNAMIC ABILITIES, INCLUDING RESULTING FROM REDUNDANCY. IN THIS LIGHT, THE NOTION INTRODUCED IS CLOSELY ASSOCIATED WITH THE MANIPULATOR QUALITATIVE INVESTIGATION. IT IS SHOWN THAT A BASIS FOR CONCEPTUAL MODELING OF REDUNDANT MANIPULATORS CAN BE CREATED USING GEOMETRIC ANALYSIS OF MANIPULATOR TRAJECTORIES AND QUALITATIVE REASONING. THE QUALITATIVE TECHNIQUE FOR THE DESCRIPTION OF THE MANIPULATOR'S BEHAVIOR AND A METHODOLOGY FOR CONCEPTUAL MODELING OF REDUNDANT MANIPULATORS USING A CIRCLE BASED ALGEBRA ARE UNDER DISCUSSION. ALSO, A GEOMETRIC APPROACH FOR CONCEPTUAL MODELING OF SNAKE-LIKE MANIPULATORS IS SUGGESTED.
| Number of Pages : | 11 |
| Published : | 06/01/1991 |
