Accession Number : ADA214925

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

Descriptive Note : Final rept. 1 Oct 88-31 Sep 89,

Corporate Author : CALIFORNIA UNIV DAVIS DEPT OF MECHANICAL ENGINEERING

Personal Author(s) : Ravani, Bahram

PDF Url : ADA214925

Report Date : 30 Oct 1989

Pagination or Media Count : 38

Abstract : 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)

Descriptors :   *LOADING(ORDNANCE PROJECTORS), *MANIPULATORS, *ROBOTS, AUTOMATION, CALIBRATION, DYNAMICS, LOADING(HANDLING), MILITARY APPLICATIONS, MODELS, MOTION, SIMULATION, TRAJECTORIES

Subject Categories : Cybernetics
      Bionics

Distribution Statement : APPROVED FOR PUBLIC RELEASE