REAL-TIME COMPUTATIONAL ASPECTS OF MULTIPLE MANIPULATOR SYSTEMS

被引：2

作者：

KIRCANSKI, N

HUI, R

SHIMOGA, KB

GOLDENBERG, AA

机构：

[1] Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, M5S 1A4, Ontario

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1994年 / 9卷 / 1-2期

关键词：

ROBOT; MANIPULATOR; KINEMATICS; DYNAMICS; MODELS; COOPERATION; MULTIPLE MANIPULATOR SYSTEM; SYMBOLIC MODELING; CUSTOMIZED MODELS; REAL-TIME;

D O I：

10.1007/BF01258315

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we address the topic of numerical computation in a system of multiple manipulators, one which has received scant attention despite a great deal of research in development of control schemes and the proliferation of similar work on single manipulator systems. Different approaches to computations in kinematics, statics and dynamics of multiple manipulator systems are studied and compared. The results show that significant savings in computational count can be achieved through customization of models. A systematic approach to customization is also described herein.

引用

页码：101 / 120

页数：20

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