Robot manipulator prototyping (Complete Design Review)

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Publication Type Journal Article
School or College College of Engineering
Department Computing, School of
Creator Sobh, Tarek M.; Henderson, Thomas C.
Other Author Dekhil, Mohamed; Sabbavarapu, Anil; Mecklenburg, Robert
Title Robot manipulator prototyping (Complete Design Review)
Date 1994
Description Prototyping is an important activity in engineering. Prototype development is a good test for checking the viability of a proposed system. Prototypes can also help in determining system parameters, ranges, or in designing better systems. The interaction between several modules (e.g., S/W, VLSI, CAD, CAM, Robotics, and Control) illustrates an interdisciplinary prototyping environment that includes radically different types of information, combined in a coordinated way. 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. We propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment.
Type Text
Publisher University of Utah
First Page 1
Last Page 155
Subject Robot manipulator; Prototyping
Subject LCSH Manipulators (Mechanism)
Language eng
Bibliographic Citation Dekhil, M., Sobh, T. M., Henderson, T. C., Sabbavarapu, A., & Mecklenburg, R. (1994). Robot manipulator prototyping (Complete Design Review). 1-155. UUCS-94-010.
Series University of Utah Computer Science Technical Report
Relation is Part of ARPANET
Rights Management ©University of Utah
Format Medium application/pdf
Format Extent 32,577,565 bytes
Identifier ir-main,16300
ARK ark:/87278/s6tx3zrv
Setname ir_uspace
ID 704816
Reference URL https://collections.lib.utah.edu/ark:/87278/s6tx3zrv