Kinematics of the MIT-AI-VICARM Manipulator
This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Nav...
| Main Authors: | , |
|---|---|
| Format: | Working Paper |
| Language: | en_US |
| Published: |
MIT Artificial Intelligence Laboratory
2008
|
| Online Access: | http://hdl.handle.net/1721.1/41104 |
| _version_ | 1826211972418371584 |
|---|---|
| author | Horn, Berthold K.P. Inoue, Hirochika |
| author_facet | Horn, Berthold K.P. Inoue, Hirochika |
| author_sort | Horn, Berthold K.P. |
| collection | MIT |
| description | This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-70-A-0362-0005. |
| first_indexed | 2024-09-23T15:14:19Z |
| format | Working Paper |
| id | mit-1721.1/41104 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:14:19Z |
| publishDate | 2008 |
| publisher | MIT Artificial Intelligence Laboratory |
| record_format | dspace |
| spelling | mit-1721.1/411042019-04-12T09:44:48Z Kinematics of the MIT-AI-VICARM Manipulator Horn, Berthold K.P. Inoue, Hirochika This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-70-A-0362-0005. This paper describes the basic geometry of the electric manipulator designed for the Artificial Intelligence Laboratory by Victor Scheinman while on leave from Stanford University. The procedure for finding a set of joint angles that will place the terminal device in a desired position and orientation is developed in detail. This is on of the basic primitives that an arm controller should have. The orientation is specified in terms of Euler-angles. Typically eight sets of joint angles will produce the same terminal device position and orientation. MIT Artificial Intelligence Laboratory 2008-04-10T13:45:11Z 2008-04-10T13:45:11Z 1974-05 Working Paper http://hdl.handle.net/1721.1/41104 en_US MIT Artificial Intelligence Laboratory Working Papers, WP-69 application/pdf MIT Artificial Intelligence Laboratory |
| spellingShingle | Horn, Berthold K.P. Inoue, Hirochika Kinematics of the MIT-AI-VICARM Manipulator |
| title | Kinematics of the MIT-AI-VICARM Manipulator |
| title_full | Kinematics of the MIT-AI-VICARM Manipulator |
| title_fullStr | Kinematics of the MIT-AI-VICARM Manipulator |
| title_full_unstemmed | Kinematics of the MIT-AI-VICARM Manipulator |
| title_short | Kinematics of the MIT-AI-VICARM Manipulator |
| title_sort | kinematics of the mit ai vicarm manipulator |
| url | http://hdl.handle.net/1721.1/41104 |
| work_keys_str_mv | AT hornbertholdkp kinematicsofthemitaivicarmmanipulator AT inouehirochika kinematicsofthemitaivicarmmanipulator |