Details

Autor(en) / Beteiligte

• Dekhil, M.
• Sobh, T.M.
• Henderson, T.C.
• Mecklenburg, R.

Titel

UPE: Utah prototyping environment for robot manipulators

Ist Teil von

• Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995, Vol.1, p.794-799 vol.1

Ort / Verlag

IEEE

Erscheinungsjahr

1995

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and digital computer control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. In this paper the authors propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment.