IEEE Robotics and Automation Society Boston Chapter Tuesday, February 12, 2002 Informal Discussion: 6:00 PM Program: 6:30 PM The Case For Kinematically Simple Models Of Robotic Joints Robert E. Parkin, senior member IEEE Abstract The number of successful joint systems for commercial robots is limited, and the number of joint types used in these systems is even more limited. Therefore, it would seem to make sense to produce a set of simple models for these joints that can characterize most if not all common robots. The methodology employed is to characterize each joint in terms of a single parameter, typically a joint angle, such that motion is in a plane that is the same as or orthogonal to a prior plane of motion. The result is a geometry that is easy to draw yet comprehensive in characterization. The benefits of this approach include: * Canonical mathematical representations, * The ability to produce closed form inverse kinematic solutions even in cases when other methods fail, * Greatly simplified robot dynamics, and * A global characterization that better describes the complete robotic workplace. Robert E. Parkin received the Ph.D and DIC degrees from Imperial College, University of London in Nov. 1965. He was a Member of the Technical Staff of Bell Telephone Laboratories from 1965 to 1969 as a specialist engaged in computer aided design. From March 1969 until July 1976, he was on the faculty of Electrical Engineering of Northeastern University. He formed his own design and consulting company in 1976 and served as its president until joining the faculty of Electrical Engineering at UMass, Lowell in September 1982. He transferred to the Mechanical Engineering Department in 1991 to pursue his interest in manufacturing systems modeling. He holds the rank of Professor. He founded the IEEE Robotics Chapter (Boston Section) in 1984 as the first IEEE Robotics Chapter in the country, and served as its president from 1984 to 1988. He was appointed University Scholar for the spring semester, 1985. He presently serves as President of the Faculty Senate at UMass Lowell. His fields of interest include group technology, manufacturing systems simulation, robotics, and mechanical devices for the disabled. Meeting information The IEEE Robotics and Automation Society will meet on Tuesday, February 12, 2002, at Wellesley High School at 6:00 PM for informal discussions and for the formal presentation between 6:30 and 7:30 PM. The group will have a no-host dinner afterwards at Bertucci's, where more conversations can take place with the guest speaker. The meetings are open to the general public, and all are welcome at the dinner afterwards. For more information contact Mike Brenner at 781-271-3806 or the Chapter email address: info@robotics-boston.org (hotlink: mailto:info@robotics-boston.org). Directions From Route 128, take either Route 9 or Route 16 west. From the junction of Routes 9 and 16, follow Route 16 (Washington Street) west past the Wellesley Hills commuter rail station (within walking distance of the school), then turn left onto Rice Street. Wellesley High School is on the left. Parking is available in a lot just beyond the school. For a web map showing the location of Wellesley High School, go to the Yahoo map site at http://maps.yahoo.com/ and enter the following information in the indicated locations: Address: 50 Rice St City, State or ZIP: Wellesley, MA The star marker is misplaced slightly to the south. Imagine it about 1 cm toward the top of the map at Rice St. For more information about our Section and Chapter, visit our web site at our new registered domain URL http://www.robotics-boston.org/