A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots

DOI10.1002/ROB.4620080402MaRDI QIDQ3350864zbMATH OpenOpenAlexFDO

Authors T. C. Yih

Publication date 1991

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620080402

zbMATH Keywords

shape matrixspatial robots6R Cincinnati Milacron T3 robotBendix AA/CNC (RRP/RRR) robotbinary linkBryant angles transformation matriceshomogeneous cylindrical coordinatesopen-chain robotUnimate 2000 spherical (SP/RRR) robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Differential geometric aspects in kinematics (53A17) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

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Cites work

• scientific article; zbMATH DE number 3108949 (Why is no real title available?)
• An Iterative Method for the Displacement Analysis of Spatial Mechanisms

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