Integration of robotic inverse kinematic routines in an algorithmic 3D modeling software

An industrial manipulator equipped with an automatic clay extruder is used to realize a machine that can manufacture additively clay objects. The desired geometries are designed by means of a 3D modeling software and then sliced in a sequence of layers with the same thickness of the extruded clay section. The profiles of each layer are transformed in trajectories for the extruder and therefore for the end-effector of the manipulator. The goal of this thesis is to improve the algorithm for the inverse kinematic resolution and the integration of the routine within the development software that controls the machine (Rhino/Grasshopper). The kinematic model is described by homogeneous transformations, adopting the Denavit-Hartenberg standard convention. The function is implemented in C# and it has been preliminarily tested in Matlab. The outcome of this work is a substantial reduction of the computation time relative to the execution of the algorithm, which is halved.

Draft priorities manual : proposals for integration of the priorities & allocation system.

"30 April 1948."

Integration of in-vehicle electronics for IVHS and the electronics for other vehicle systems. Summary report.

National Highway Traffic Safety Administration, Washington, D.C.

A feasibility study of response techniques for discharge of hazardous chemicals that disperse through the water column /

Prepared for the U.S. Coast Guard, Office of Research and Development, Washington, D.C. under contract no. DOT-CG-51122-A.

Integration of risk factor interventions : two reports to the Office of Disease Prevention and Health Promotion.

"November 1986."

Integration of in-vehicle electronics for IVHS and the electronics for other vehicle systems.

National Highway Traffic Safety Administration, Washington, D.C.

Integration of inertial profilometer in ODOT Pavement Management System. Final report.

Ohio Department of Transportation, Columbus.

Integration of public library services in the Los Angeles area

Mode of access: Internet.

Feasibility study of trailer techniques for tire traction. Volume 2. Technical. Final report.

National Highway Traffic Safety Administration, Washington, D.C.