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Object-Oriented Manipulator Design Exerciser (OOMANEX).

dc.contributor.authorChen, Xinen_US
dc.date.accessioned2007-05-23T09:38:58Z
dc.date.available2007-05-23T09:38:58Z
dc.date.issued1987en_US
dc.identifier.urihttp://hdl.handle.net/1903/4667
dc.description.abstractThe design of-a robotic manipulator system involves complex computations for solving nonlinear, coupled dynamical equations. Our goal to resolve the design difficulties was to have a general program package combining the following capabilities: (i) a high- level input environment with computer aided-design (CAD) features for constructing, and modifying models of a robot manipulator and its environment; (ii) automatic formulation of kinematic and dynamical equations; (iii) dynamical joint torque (force) calculatione; (iv) an interactive environment for simulation, and task planning; a high-level language for robot programming, and an interactive editor for program debugging. A program with the above capabilites would be attractive because it would allow the user to write and debug robot programs and to plan, simulate, and modify robot manipulator designs in a single programming environment. The Object-oriented Manipulator Design Exerciser (OOMANEX), a soft-ware package for modeling, design and optimization of a robotic manipulator system has been developed to realize the above goals.en_US
dc.format.extent2340696 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1987-161en_US
dc.titleObject-Oriented Manipulator Design Exerciser (OOMANEX).en_US
dc.typeTechnical Reporten_US
dc.contributor.departmentISRen_US


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