Configuration control of a modular arm with N active links

Jerome Foret; Wei Tech Ang; Ming Xie; Jean-Guy Fontaine

doi:10.1117/12.332806

17 December 1998 Configuration control of a modular arm with N active links

Jerome Foret, Wei Tech Ang, Ming Xie, Jean-Guy Fontaine

Proceedings Volume 3518, Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics; (1998) https://doi.org/10.1117/12.332806
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This paper presents a new class of solution to the inverse kinematics for a modular arm with N-active links. Due to the design advantage of the active link, we bring the inverse kinematics problem from a 3D space to a 2D space. Based on the proposed methodology, a class of simple solutions can be quickly and easily obtained. Simulation results prove the validity of the solutions. Results with real modular arm are also included in this paper.

Citation Download Citation

Jerome Foret, Wei Tech Ang, Ming Xie, and Jean-Guy Fontaine "Configuration control of a modular arm with N active links", Proc. SPIE 3518, Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics, (17 December 1998); https://doi.org/10.1117/12.332806

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available