UPE: Utah Prototyping Environment For Robot Manipulators
No Thumbnail Available
Authors
Dekhil, Mohamed
Sobh, Tarek M.
Henderson, Thomas C.
Mecklenburg, Robert
Issue Date
1995-05-21
Type
Article
Language
Keywords
Computer aided design , Computer aided manufacturing , Data algorithms , Engineering
Alternative Title
Abstract
Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix " of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and digital computer control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. In this paper, we propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment.
Description
Citation
Publisher
IEEE