Object-Oriented Manipulator Design Exerciser (OOMANEX).
| dc.contributor.author | Chen, Xin | en_US |
| dc.contributor.department | ISR | en_US |
| dc.date.accessioned | 2007-05-23T09:38:58Z | |
| dc.date.available | 2007-05-23T09:38:58Z | |
| dc.date.issued | 1987 | en_US |
| dc.description.abstract | The 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.extent | 2340696 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1903/4667 | |
| dc.language.iso | en_US | en_US |
| dc.relation.ispartofseries | ISR; TR 1987-161 | en_US |
| dc.title | Object-Oriented Manipulator Design Exerciser (OOMANEX). | en_US |
| dc.type | Technical Report | en_US |
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