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Derivation of Kinem...
Derivation of Kinematic Relations for a Robot using Maple
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- Wallén, Johanna, 1979- (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Gunnarsson, Svante (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Norrlöf, Mikael, 1971- (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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(creator_code:org_t)
- Linköping : Linköping University Electronic Press, 2006
- 2006
- Engelska.
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Serie: LiTH-ISY-R, 1400-3902 ; 2732
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Ingår i: Proceedings of Reglermöte 2006. - Linköping : Linköping University Electronic Press.
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Abstract
Ämnesord
Stäng
- A first step towards making a toolbox in Maple for industrial robot modelling is taken. Position and orientation of the tool can be determined in terms of the Denavit-Hartenberg joint variables and also the Jacobian relating the linear and angular velocities to the joint velocities. Further on it will be possible to, eg, differentiate the Jacobian. Future work includes to evaluate different kinds of sensors and sensor locations and symbolically generate the kinematic models using Maple. It also means to incorporate the models in Matlab- or C-code for including the results, eg, in an Extended Kalman Filter algorithm for state estimation.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Modelling
- Industrial robots
- Symbolic computations
- Sensor fusion
- TECHNOLOGY
- TEKNIKVETENSKAP
- Automatic control
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