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In this work an architecture for robotic control is proposed which divides the robot controller system into a manipulator specific and an application specific part. All manipulator specific controller functionality - especially power supply, direct/inverse kinematics, and safety features - remain on the robot (motion) controller, all application specific peripheries and software are bundled into an...
In this article a novel concept for specification of spatial paths for mechanism and kinematic design applications is presented. Mechanism designers use e.g. sketches for specification of motion curves. If these are created based on oral description, misunderstanding or inadequate formulation are sources of error. Further, it is difficult to generate them for spatial problems. The presented approach...
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