Published 1995
| Version v1
Journal article
Inverse kinematic control of LDUA and TWRMS
Creators
- 1. Florida International Univ., Miami, FL (United States)
- 2. Oak Ridge National Lab., TN (United States)
Description
A general inverse kinematic analysis is formulated particularly for the redundant Light Duty Utility Arm (LDUA) and Tank Waste Retrieval Manipulator System (TWRMS). The developed approach is applicable to the inverse kinematic simulation and control of LDUA, TWRMS, and other general robot manipulators. The 4 x 4 homogeneous Cylindrical coordinates-Bryant angles (C-B) notation is adopted to model LDUA, TWRMS, and any robot composed of R (revolute), P (prismatic), and/or S (spherical) joints
Additional details
Publishing Information
- Journal Title
- Transactions of the American Nuclear Society
- Journal Volume
- 73
- Journal Page Range
- p. 455-457.
- ISSN
- 0003-018X
- CODEN
- TANSAO
Conference
- Title
- Winter meeting of the American Nuclear Society (ANS).
- Dates
- 29 Oct - 1 Nov 1995.
- Place
- San Francisco, CA (United States).
INIS
- Country of Publication
- United States
- Country of Input or Organization
- United States
- INIS RN
- 28019666
- Subject category
- S12: MANAGEMENT OF RADIOACTIVE WASTES, AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES; S42: ENGINEERING; S22: GENERAL STUDIES OF NUCLEAR REACTORS;
- Resource subtype / Literary indicator
- Conference
- Descriptors DEI
- CONTROL; MANIPULATORS; MATERIALS HANDLING; MATHEMATICAL MODELS; OCCUPATIONAL SAFETY; RADIOACTIVE WASTES; REMOTE HANDLING EQUIPMENT; ROBOTS; WASTE RETRIEVAL
- Descriptors DEC
- EQUIPMENT; LABORATORY EQUIPMENT; MANAGEMENT; MATERIALS; MATERIALS HANDLING EQUIPMENT; RADIOACTIVE MATERIALS; SAFETY; WASTE MANAGEMENT; WASTES
Optional Information
- Secondary number(s)
- CONF-951006--.