Calculation of robot articulation variables

  • Philippe Coiffet
Part of the Robot Technology book series (RT, volume 1)


The problem to be studied in this chapter is crucial to the use of an AMS. Suppose that the robot illustrated in Figure 26 is to be used to grip an object, using a structure such as the manipulator shown in Figure 20. Knowing the location of the table and the cylinder, the required position of the robot must be determined. Then, with the manipulator in configuration 1, it is necessary to determine the changes which need to be applied to the various articulated variables to bring them to configuration 2 (whilst avoiding obstacle A). These problems involve all aspects of robot control: plan and trajectory generation and the reaction with the environment. A necessary step in solving the problem of control is to establish transformation of known data concerning the task space to data concerning the articulated variables.


Unknown Variable Robot Control Trajectory Generation Task Space Compatibility Constraint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Kogan Page Ltd 1983

Authors and Affiliations

  • Philippe Coiffet
    • 1
  1. 1.Automation LaboratoryMontpellierFrance

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