SME MS94-237

ROBOTS WITH REDUNDANT KINEMATICS GET MORE AND MORE IMPORTANT FOR REMOTE OPERATIONS IN HOSTILE ENVIRONMENT, ESPECIALLY DUE TO THEIR FLEXIBILITY IN OPERATING IN CONFINED WORKSPACES. THIS PAPER DESCRIBES A NEW SYSTEM OSCAR WHICH IS ABLE TO CONTROL ARBITRARY (REDUNDANT OR NON-REDUNDANT) ROBOTS. OSCAR IS BASED ON AN OPTIMIZATION APPROACH. IT TAKES INTO ACCOUNT VARIOUS CRITERIA TO CONTROL THE CONFIGURATION OF REDUNDANT ROBOTS AND REGARDS KINEMATICAL AND TECHNOLOGICAL RESTRICTIONS.

Product Details

Published:

06/01/1994

Number of Pages:

12

File Size:

1 file , 1.4 MB