Modelling of kinematics of the IRb-6 manipulator

DOI10.1016/0898-1221(95)00038-ZMaRDI QIDQ1805441zbMATH OpenFDO

Authors Tadeusz Szkodny

Publication date 20 July 1995

Published in Computers & Mathematics with Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0898-1221(95)00038-Z

zbMATH Keywords

actuators kinematicslink kinematicsmatrix formnatural coordinates

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Review text

This paper presents equations of links and actuators kinematics of the \(IRb-6\) manipulator in matrix form. Also, solutions of equations of link kinematics, as well as formulae joining link and actuator natural coordinates of the manipulator, have been presented.

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Cites work

• scientific article; zbMATH DE number 194581 (Why is no real title available?)
• Modelling of kinematics of the IRb-6 manipulator
• Spatial Planning: A Configuration Space Approach

Cited in

(5)

• Curvature properties of 6-parametric robot manipulators
• Generating a reference trajectory with defined kinematics for the IRb-6 manipulator
• Modelling of kinematics of the IRb-6 manipulator
• Mathematical modelling of linear motion error for Hexarot parallel manipulators
• Robot Path Control with Al-Alaoui Rule for Fractional Calculus Discretization

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