Kinematic Behavior of Robots While Executing General Robot Level Commands

摘要

As manufacturing becomes more automated, the need for automatic programming of robots increases. One of the most important steps in the realization of Automatic Robot Programming is the ability of the robot planner to generate robot independent commands which are executable by any type of manipulator. The paper shows the development of principles necessary to transform these general robot level commands into joint servo motion commands for all generic robot kinematic structures.