Robot's Manipulators and Spatial Linkages: Computer Aided Simulation of Configurations, Trajectory Execution and Dynamic Parameters of Motion

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Mechanism design has traditionally been a creative process addressed by creative engineers and designers. Recent efforts to quantify the process have been partially successful but much remains to be done before efficient schemes become available for the design of the most general three-dimensional mechanisms. This project investigates new methods for the simulation and identification of spatial (three-dimensional) mechanism configurations. Software packages based on the method are generated for use by the design community.