A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots
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Publication:3350864
DOI10.1002/rob.4620080402zbMath0727.70005MaRDI QIDQ3350864
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
shape matrix; spatial robots; 6R Cincinnati Milacron T3 robot; Bendix AA/CNC (RRP/RRR) robot; binary link; Bryant angles transformation matrices; homogeneous cylindrical coordinates; open-chain robot; Unimate 2000 spherical (SP/RRR) robot
70-08: Computational methods for problems pertaining to mechanics of particles and systems
70B15: Kinematics of mechanisms and robots
53A17: Differential geometric aspects in kinematics
