Abstract
The current state of robotic operating systems and application software does not offer enough ease of programming, reusability and adaptability to changes. Most of the algorithms for motion control are implemented in terms of older programming languages and concepts. This paper illustrates the advantages of employing object-oriented principles in designing computational algorithms in robotics. The novelty in the proposed approach is the application of the Separation of concerns principle in solving the inverse kinematic problem for motion control of redundant robot arms along a prescribed path in task space. The obtained model is ready for software implementation that adapts to changes in geometry and motion control subject to different quality criteria.
Sign-in/Register to access full text options 
Free) 
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 call
