PARTICULAR OR THE GENERAL? (SOME EXAMPLES FROM ROBOT KINEMATICS).

The common use of some general analytical methods for solving problems is called into question. It is contended that 'realistic' serial robots can be dealt with more elegantly and faster by perceiving their particular properties rather than resorting to generality. Robot 'closure' (inverse pair-variable determination) and velocity-determination provide examples. The physical nature of the problem is evident throughout, whereas it is obscured when a general method is routinely followed. Moreover, there is the prospect of improved algorithms for real-time control. It is contended that the gist of the message conveyed has broader applications too.