A SMART ROBOTS GEOMETRIC MODEL INVERTING SYSTEM

Authors
ZHOU J COIFFET P
Citation
J. Zhou et P. Coiffet, A SMART ROBOTS GEOMETRIC MODEL INVERTING SYSTEM, Journal of robotic systems, 12(9), 1995, pp. 629-633
Citations number
7
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Application, Chemistry & Engineering","Robotics & Automatic Control
Journal title
Journal of robotic systems → ACNP
ISSN journal
07412223
Volume
12
Issue
9
Year of publication
1995
Pages
629 - 633
Database
ISI
SICI code
0741-2223(1995)12:9<629:ASRGMI>2.0.ZU;2-L
Abstract
This article deals with a real-time model inverting system. The mathem atical inverting problem is no longer solved with a mathematical algor ithm but through the design of the system control itself. The control algorithm is issued from human knowledge. The stability of this system is proved, and the properties are discussed. This system can be used where a geometric model should be inverted in real time, especially fo r redundant robots. (C) 1995 John Wiley & Sons, Inc.