OBJECT-ORIENTED REPRESENTATION OF A ROBOT MANIPULATOR

Date

1994-04-14

Author

Zontul, H
Ersak, Aydın

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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The paper presents an object-oriented representation of a robot manipulator. The representation developed here is appropriate to implement a robot simulation package. The software package is easy to use and gives insight to the robot kinematics, the dynamics and the control subjects. The robot representation has been tested in resolved motion rate control and hybrid position/force control applications.

Subject Keywords

Automation, Control systems, Computer science, Artificial intelligence, Engineering, Electrical electronic engineering, Telecommunications, Robot kinematics, Object oriented modeling, Packaging, Manipulator dynamics, Motion control, Force control, Jacobian matrices, Testing, Education, Position control

URI

https://hdl.handle.net/11511/62703

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

H. Zontul and A. Ersak, “OBJECT-ORIENTED REPRESENTATION OF A ROBOT MANIPULATOR,” 1994, p. 363, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/62703.