A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots (Q3350864)
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scientific article; zbMATH DE number 4201715
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| English | A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots |
scientific article; zbMATH DE number 4201715 |
Statements
A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots (English)
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1991
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spatial robots
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homogeneous cylindrical coordinates
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Bryant angles transformation matrices
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shape matrix
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binary link
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open-chain robot
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Unimate 2000 spherical (SP/RRR) robot
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Bendix AA/CNC (RRP/RRR) robot
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6R Cincinnati Milacron T3 robot
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0.7072917222976685
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0.6830757260322571
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