Classification and Simulation of Single and Multi-Degree-of-Freedom Motions.

摘要

This report provides an outline of the results obtained in a period of one year in Simulation and Dynamic Motions (trajectories) of robot manipulators performing multi-degree-of-freedom motions. The design of a general purpose world modeling system for Computer Aided Design based robot motion simulation was completed. Methods were also developed for calibration of the world model to account for simple inaccuracies developed in the actual robot task operations. Methods were also developed to generate dynamic robot motions delivering maximum impulse at the end of a trajectory This can be used in military applications involving automated ammunition loading. (KR)