Point-based Jacobian formulation for computational kinematics of manipulators

DOI10.1016/J.MECHMACHTHEORY.2006.01.011zbMATH Open1329.70012OpenAlexW1973210510MaRDI QIDQ857211FDOQ857211

Authors: O. Salgado, Oscar Altuzarra, Víctor Petuya, A. Hernández 

Publication date: 14 December 2006

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2006.01.011

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zbMATH Keywords

velocity equationparallel manipulatorsdimensionless Jacobianmotion space

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cited In (6)

• Computational kinematics for robotic manipulators: Jacobian problems
• On the angular velocity of a rigid body: matrix and vector representations
• Computational kinematics for robotic manipulators: instantaneous motion pattern
• Formulating Jacobian matrices for the dexterity analysis of parallel manipulators
• Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs
• A numerical procedure to solve nonlinear kinematic problems in spatial mechanisms

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