Bell, Boyd & Lloyd LLC
Method for describing robot structure and part of robot
A method for describing the structure of a robot representing robot parts as an assembly of elementary structures which is based on the skeletonic representation, a robot structure and a robot part. The parts CPCi are robot parts making up a robot. The connecting information CONNECTi is represented by a symbol &#8220;-&#8221; specifying serial connection to a previous elementary structure and a symbol &#8220;;n&#8221; specifying connection to the elementary structure n elementary structures before. The shape information jSHAPEi, is represented by straight lines by a vector jpi, and the coordinate transformation to the next elementary structure at the terminal point of iPARTj is given by the transformation matrix jRi.
Sony Corporation
B
B25J
inventional
Masahiro
Fujita