1998
DOI: 10.1017/cbo9780511530159
|View full text |Cite
|
Sign up to set email alerts
|

Kinematic Analysis of Robot Manipulators

Abstract: A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book begins with an introduction to the subject of robot manipulators. Next, it describes in detail a forward and reverse analysis for serial robot arms. Most of the text focuses on closed form solution techniques applied to a broad range of manipulator geometries, from typical industrial robot designs (relatively s… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
1
1
1
1

Citation Types

0
28
0
2

Year Published

2003
2003
2017
2017

Publication Types

Select...
4
3
3

Relationship

0
10

Authors

Journals

citations
Cited by 76 publications
(30 citation statements)
references
References 0 publications
0
28
0
2
Order By: Relevance
“…La metodología a utilizar para establecer los parámetros de referencia entre elementos del robot, es la teoría unificada de [10], la cual ha sido implementada con éxito en la cinemática de manipuladores seriales complejos, como el robot de seis eslabones [11], e inclusive en aplicaciones espaciales [12; 13]. De acuerdo con [14], los elementos tridimensionales se definen usando seis parámetros cinemáticos, que se muestran en la figura 2 y que son explicados a continuación.…”
Section: Cinemática De Posición Del Manipulador Movemaster Rv-m1unclassified
“…La metodología a utilizar para establecer los parámetros de referencia entre elementos del robot, es la teoría unificada de [10], la cual ha sido implementada con éxito en la cinemática de manipuladores seriales complejos, como el robot de seis eslabones [11], e inclusive en aplicaciones espaciales [12; 13]. De acuerdo con [14], los elementos tridimensionales se definen usando seis parámetros cinemáticos, que se muestran en la figura 2 y que son explicados a continuación.…”
Section: Cinemática De Posición Del Manipulador Movemaster Rv-m1unclassified
“…The bottom point O1 remains fixed and the top point is allowed to move as the rotation angles vary. The transformation of any point in one coordinate system to a reference coordinate system can be found when the relative position and orientation of the pair of coordinate systems are known (Crane and Duffy, 1998). Compound transformations define instances where multiple translations and rotations can take place to define the initial and final coordinates of a given point.…”
Section: Problem Statementmentioning
confidence: 99%
“…In the closed-form approach, all the possible sets of joint parameters that locate the robot's end-effector as desired will be found by firstly solving a polynomial in the tan-half-angle of one of the joint variables. Admittedly it is necessary to iterate to solve for the roots of a polynomial of degree greater than four [2]. In the particular case of our robot, the geometry of the robot (perpendicular, intersection and parallel joint axes) simplified the reverse analysis.…”
Section: Inverse Kinematics Algorithmmentioning
confidence: 99%