Paper Info
Title
A statistical and harmonic model for robot manipulators
Abstract
A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyse. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimisation of the robot kinematics and points out structural characteristics of the trajectory planning algorithms
Year
DOI
Venue
1997
10.1109/ROBOT.1997.614327
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference
Keywords
Field
DocType
Fourier transforms,manipulator kinematics,path planning,statistical analysis,Fourier modelling,harmonic model,nonstandard formulation,optimisation,robot kinematics,robot manipulators,statistical model,structural characteristics,trajectory planning algorithms
Motion planning,Differential equation,Kinematics equations,Inverse kinematics,Control theory,Robot kinematics,Control engineering,Fourier transform,Robot manipulator,Mathematics,Computation
Conference
Volume
Issue
ISSN
2
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-3612-7
1
0.78
References 
Authors
2
2
Name
Order
Citations
PageRank
José António Tenreiro Machado110216.42
A. M. S. F. Galhano2123.08