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Proceedings Paper

Configuration control of a modular arm with N active links
Author(s): Jerome Foret; Wei Tech Ang; Ming Xie; Jean-Guy Fontaine
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Paper 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.

Paper Details

Date Published: 17 December 1998
PDF: 12 pages
Proc. SPIE 3518, Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics, (17 December 1998); doi: 10.1117/12.332806
Show Author Affiliations
Jerome Foret, Nanyang Technological Univ. (France)
Wei Tech Ang, Nanyang Technological Univ. (Singapore)
Ming Xie, Nanyang Technological Univ. (Singapore)
Jean-Guy Fontaine, Ecole Nationale Superiere d'Ingenieurs de Bourges (France)

Published in SPIE Proceedings Vol. 3518:
Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics
Patrick F. Muir; Patrick F. Muir; Peter E. Orban, Editor(s)

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