Song, S., Vohnout, V., Waldron, K. & Kinzel, G.L. 1984, 'Computer-aided-design Of A Leg For An Energy-efficient Walking Machine', Mechanism And Machine Theory, vol. 19, no. 1, pp. 17-24.
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Waldron, K., Vohnout, V., Pery, A. & Mcghee, R. 1984, 'Configuration-design Of The Adaptive Suspension Vehicle', International Journal Of Robotics Research, vol. 3, no. 2, pp. 37-48.
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Tai Ming, J. & Waldron, K.J. 1984, 'GEOMETRIC DESIGN OF MANIPULATORS USING INTERACTIVE COMPUTER GRAPHICS.', v II, pp. 949-954.
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A study of numerical workspace delineation for industrial robot geometries is described. The programs developed have several unique features. A powerful new technique for computation of volumes and other workspace properties has been implemented. Intersections between the manipulator workspace and those of other devices are explored. A capability for studying the portions of the workspace with the hand in a specified orientation is also incorporated. The program is implemented on an interactive graphic system.
Waldron, K.J., Wang, S.L. & Bolin, S.J. 1984, 'STUDY OF THE JACOBIAN MATRIX OF SERIAL MANIPULATORS.', American Society of Mechanical Engineers (Paper).
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Inversion of the Jacobian matrix is the critical step in rate decomposition which is used to solve the so-called 'inverse kinematics' problem of robotics. This is the problem of achieving a coordinated motion relative to the fixed reference frame. A general methodology is presented for formulation and manipulation of the Jacobian matrix. The formulation is closely tied to the geometry of the system and lends itself to simplification using appropriate coordinate transformations. This is of great importance since it gives a systematic approach to the derivation of efficient, analytical inverses. The method is also applied to the examination of geometrically singular positions. Several important general results relating to the structure of the singularity field are deducible from the structure of the algebraic system.