Computing Techniques for Robots (eBook, PDF)
Igor Aleksander
eBook, PDF

Computing Techniques for Robots (eBook, PDF)

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I. ALEKSANDER Kobler Unit for Information Technology Management, Imperial College of Science and Technology, London, England It is now over half a decade since Joseph Engelberger wrote: 'Given a six-articulation arm of any configuration, software can be powerful enough to think only in tool coordinates. That is, a programmer concerns himself only with the tool on the end of the robot arm. He can think of the tool's frame of reference and com puter subroutines automatically make the various articulations move so as to accomplish the desired tool manipulation. ' As is often the case with stateme...

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