A Time Based Language Model for Open Chain Movement

This paper deals with linkage movement analysis. To fulfill this end, components, initial configuration, and linkage mobility were formalized to simplify generation of motor commands to create possible movements in joint space. Hence, to illustrate this, a language model was designed. In this way, three main concepts of hierarchical structure linkage joints, movement time line, and concurrency measure were proposed whose hierarchical structure allows the understanding of how each component’s movement will affect other components’ mobility. The presence of a time line allows accessibility to movement specifications of all components in every moment, and at the same time, concurrency measure is designed in a way that represents arithmetic complexity of linkage movement. Using this analytical model will provide us awareness of the end effector position as well as understanding status of all spatial and temporal components in every moment of movement, and simulating the motor by storing path points in the script structure.