International Journal of Advanced Robotic Systems (Mar 2006)

Towards a Unified Representation of Mechanisms for Robotic Control Software

  • Antonio Diaz-Calderon,
  • Issa A. D. Nesnas,
  • Hari Das Nayar,
  • Won S. Kim

DOI
https://doi.org/10.5772/5757
Journal volume & issue
Vol. 3

Abstract

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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 variety of robotic systems (including serial manipulators, wheeled and legged locomotors), with algorithms that are needed for typical robot control applications.