Inverse kinematic control of LDUA and TWRMS
Journal Article
·
· Transactions of the American Nuclear Society
OSTI ID:411810
- Florida International Univ., Miami, FL (United States)
- Oak Ridge National Lab., TN (United States)
A general inverse kinematic analysis is formulated particularly for the redundant Light Duty Utility Arm (LDUA) and Tank Waste Retrieval Manipulator System (TWRMS). The developed approach is applicable to the inverse kinematic simulation and control of LDUA, TWRMS, and other general robot manipulators. The 4 {times} 4 homogeneous Cylindrical coordinates-Bryant angles (C-B) notation is adopted to model LDUA, TWRMS, and any robot composed of R (revolute), P (prismatic), and/or S (spherical) joints.
- OSTI ID:
- 411810
- Report Number(s):
- CONF-951006--
- Journal Information:
- Transactions of the American Nuclear Society, Journal Name: Transactions of the American Nuclear Society Vol. 73; ISSN TANSAO; ISSN 0003-018X
- Country of Publication:
- United States
- Language:
- English
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