TYPE SELECTION OF ROBOT AND GRIPPER KINEMATIC TOPOLOGY USING EXPERT SYSTEMS.

Arthur G. Erdman, Thomas Thompson, Donald R. Riley

Research output: Contribution to journalArticlepeer-review

18 Scopus citations

Abstract

Robots are used for many different applications including underwater recovery, welding, inspection, pick-and-place operations, space exploration, and assembly. Each task imparts different functional demands on the robot topology including the gripper. An improper choice of the basic kinematic chain may demand sophisticated control algorithms to undo poor type selection. This paper suggests techniques of type synthesis based on graph theory and expert systems that will aid in proper kinematic topology. This new area of kinematic research has high potential for aiding the robot designer.

Original languageEnglish (US)
Pages (from-to)183-189
Number of pages7
JournalInternational Journal of Robotics Research
Volume5
Issue number2
DOIs
StatePublished - Jan 1 1986

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