Kinematic Analysis of Robot Manipulators

DOI10.1017/CBO9780511530159MaRDI QIDQ4702214zbMATH OpenFDO

Authors Carl D. III Crane, Joseph Duffy

Publication date 24 November 1999

Full work available at URL https://doi.org/10.1017/CBO9780511530159

zbMATH Keywords

Cincinnati Milacron T3-775closed loop spatial mechanismend-effector coordinate systemEuclidean coordinate transformationsforward analysisinverse analysisNASA robotsopen serial chainorientationPUMA 560quaternion representation of Euclidean transformationsserial robot manipulators

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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• Computational kinematics for robotic manipulators: instantaneous motion pattern
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• Analysis of open architecture 6R robot forward and inverse kinematics adaptive to structural variations
• Kinematics of multiple-arm robots with symmetric tasks

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