Accession Number : ADA295992

Title :   Synthesis and Simulation of Robotic Motions.

Descriptive Note : Final rept.,

Corporate Author : CALIFORNIA UNIV IRVINE DEPT OF MECHANICAL AND AEROSPACE ENGINEERING

Personal Author(s) : Ravani, Bahram

PDF Url : ADA295992

Report Date : 03 MAR 1995

Pagination or Media Count : 122

Abstract : This research project has involved studying methods for Synthesis and Simulation of robotic motions. The emphasis has been on the development of a scientific foundation for design synthesis as well as computer graphics based high performance simulation for multi-degree of freedom motions in general and robotic systems and components in particular. Background Military applications of robot manipulators are usually different from the commercial manufacturing applications in that robots are used in the unstructured field operations where there is a need for long reach, redundant degrees of freedom, high payloads and on site calibration and targeting. Commercially available robots are usually designed for the more structured manufacturing applications and therefore are not suitable for such field operations. Military robots are therefore custom designed for each application. This means that there is a need for a set of scientific design and planning tools that can be used in the initial design and the subsequent field testing of military robots. This research deals with development of scientific fundamentals that can provide the foundation for the development of such tools. (KAR) P. 3

Descriptors :   *ROBOTICS, *MOTION, SIMULATION, PAYLOAD, COMMERCE, MANUFACTURING, SYNTHESIS, TOOLS, SITES, ROBOTS, FIELD TESTS, DEGREES OF FREEDOM, PLANNING, MILITARY APPLICATIONS, COMPUTER GRAPHICS, BACKGROUND, TARGETING, CALIBRATION, REDUNDANCY, MANIPULATORS.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE