Open AccessThe mechanics of redundantly-driven robotic systems. Final report, September 1988--December 1995
Author(s) -
Lung-Wen Tsai
Publication year - 1996
Language(s) - English
Resource type - Reports
DOI - 10.2172/639732
Subject(s) - kinematics , automotive industry , computer science , control engineering , mechanism (biology) , engineering , simulation , control (management) , control theory (sociology) , artificial intelligence , aerospace engineering , physics , classical mechanics , quantum mechanics
The objectives of this research are to develop systematic methodologies for the creation of multi-degree-of-freedom mechanisms and to gain better understanding of the kinematics, dynamics and control of such devices. The following three inter-related subjects have been studied: (1) tendon-driven manipulators, (2) geared robotic mechanisms, and (3) automotive transmission mechanisms. The main results of this study are summarized