GRAPHICAL ANIMATION
There are a number of different ways to visually
display robot motion. In this section, we will focus
on
where to begin if we wish to develop a package
similar to the systems covered in the previous
section.Many
of these packages explo

MULTIBODY DYNAMIC PACKAGES
Two examples ofmultibody dynamic simulation packages
are LMS Internationals DynamicMotion Simulation
(DADS) and MSC Softwares Adams. With both packages,
you begin by either building a parameterized
model of the robot or importin

SIMULATION OF ROBOT
DYNAMICS
The emphasis of robot simulation up to this
point has been kinematic visulation.
Basically, we assume the
dynamics of the robot have no role in the
behavior of the robot. When planning a
workcell in a factory,
using off-the-sh

IMPLEMENTATION OF NEWTONS
METHOD
This appendix presents C code that implementsNewtons
method for a six degree of freedom manipulator.
It assumes that all the joints are revolute, i.e., the joint angles,
i , are the variables to be determined. It has been

INVERSE KINEMATICS SOLUTION USING
NEWTONS METHOD
This section elaborates upon the application of Newtons
method to the inverse kinematics problem. Two approaches are
presented. The first approach considers a six degree of freedom
system utilizing a 6 6 Ja

DIALYTICAL ELIMINATION
One of the most general approaches is to reduce the inverse
kinematics problem to a system of polynomial equations
through rather elaborate manipulation and then use results from
elimination theory fromalgebraic geometry to solve th

ANALYTICAL APPROACHES
This section outlines various analytical solution techniques
that lead to closed formsolutions to the inverse
kinematics problem. This section is not completely
comprehensive because specific manipulatorsmay have
kinematic features t

PRELIMINARIES
This sectionwill elaborate upon the nature of the inherent
difficulties associatedwith the inverse kinematics
problem and also provide a summary of the nomenclature and
notation used in this chapter. The first part
of this section provides s

INTRODUCTION INVERSE KINEMATICS
This chapter presents results related to the inverse kinematics
problem for robotic manipulators.As presented
elsewhere, the forward kinematics problem of a manipulator is
to determine the configuration (position
and orient

INVERSE
KINEMATICS
INTRODUCTION
This chapterpresents results related tothe inverse kinematics
problemfor robotic manipulators.As presented elsewhere, the
forward kinematics problem of a manipulator is to determine
the configuration (position and orientati