Towards a Unified Representation of Mechanisms for Robotic Control Software

Towards a Unified Representation of Mechanisms for Robotic Control Software

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This article gives an overview of the Mechanism Model paradigm. The mechanism model paradigm provides a framework to modeling mechanisms for robotic control. The emphasis is on the unification of mathematical models of kinematics/dynamics, geometric information and control system parameters for a va...

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Main Authors: Antonio Diaz-Calderon, Issa A. D. Nesnas, Hari Das Nayar, Won S. Kim
Format: Article
Language:English
Published: SAGE Publishing 2006-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/5757
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spelling doaj-de58d38ce3384d41823a6299711d86032020-11-25T03:15:32ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142006-03-01310.5772/575710.5772_5757Towards a Unified Representation of Mechanisms for Robotic Control SoftwareAntonio Diaz-Calderon0Issa A. D. Nesnas1Hari Das Nayar2Won S. Kim3Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USAJet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USAOphirTech, Altadena, CA, USAJet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USAThis article gives an overview of the Mechanism Model paradigm. The mechanism model paradigm provides a framework to modeling mechanisms for robotic control. The emphasis is on the unification of mathematical models of kinematics/dynamics, geometric information and control system parameters for a variety of robotic systems (including serial manipulators, wheeled and legged locomotors), with algorithms that are needed for typical robot control applications.https://doi.org/10.5772/5757
collection DOAJ
language English
format Article
sources DOAJ
author Antonio Diaz-Calderon
Issa A. D. Nesnas
Hari Das Nayar
Won S. Kim
spellingShingle Antonio Diaz-Calderon
Issa A. D. Nesnas
Hari Das Nayar
Won S. Kim
Towards a Unified Representation of Mechanisms for Robotic Control Software
International Journal of Advanced Robotic Systems
author_facet Antonio Diaz-Calderon
Issa A. D. Nesnas
Hari Das Nayar
Won S. Kim
author_sort Antonio Diaz-Calderon
title Towards a Unified Representation of Mechanisms for Robotic Control Software
title_short Towards a Unified Representation of Mechanisms for Robotic Control Software
title_full Towards a Unified Representation of Mechanisms for Robotic Control Software
title_fullStr Towards a Unified Representation of Mechanisms for Robotic Control Software
title_full_unstemmed Towards a Unified Representation of Mechanisms for Robotic Control Software
title_sort towards a unified representation of mechanisms for robotic control software
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2006-03-01
description This article gives an overview of the Mechanism Model paradigm. The mechanism model paradigm provides a framework to modeling mechanisms for robotic control. The emphasis is on the unification of mathematical models of kinematics/dynamics, geometric information and control system parameters for a variety of robotic systems (including serial manipulators, wheeled and legged locomotors), with algorithms that are needed for typical robot control applications.
url https://doi.org/10.5772/5757
work_keys_str_mv AT antoniodiazcalderon towardsaunifiedrepresentationofmechanismsforroboticcontrolsoftware
AT issaadnesnas towardsaunifiedrepresentationofmechanismsforroboticcontrolsoftware
AT haridasnayar towardsaunifiedrepresentationofmechanismsforroboticcontrolsoftware
AT wonskim towardsaunifiedrepresentationofmechanismsforroboticcontrolsoftware
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