Abstract
An algorithm is presented that identifies the kinematics of an unknown payload with multiple degrees-of-freedom. Using a dual manipulator system, manipulator joint angles are collected from which end-effector positions and orientations are inferred. The position data are used to calculate vectors normal to the constraint surface dictated by the payload. These normal vectors, along with the orientation data, are used to determine the types of joints in the payload, and then the payload's kinematic structure. Once the structure is known, the kinematic parameters are calculated using vector geometry. Payloads with up to two joints are analyzed and simulation results are provided.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
