MANIPULATION
Kinematic equations for industrial manipulators
Donald R. Myers, Diana F. Gordon
- Year
- 1982
- Citations
- 14
Abstract
A method for developing the kinematic equations of motion for a six degree‐of‐freedom manipulator is presented, which can be applied to most commercially available robots. Cartesian coordinate frames are assigned to each link so that the number of transcendental and arithmetic operations needed to transform from coordinates in one frame to any other frame is minimised.
Keywords
KinematicsCartesian coordinate systemKinematic chainSerial manipulatorFrame (networking)Transcendental numberMathematicsParallel manipulatorComputer scienceIndustrial robot
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