Difference between revisions of "Manipulator Kinematics"
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{{chapter header|Rigid Body Motion|Manipulator Kinematics|Robot Dynamics and Control}} | {{chapter header|Rigid Body Motion|Manipulator Kinematics|Robot Dynamics and Control}} | ||
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| + | The ''kinematics'' of a robot manipulator describes the relationship | ||
| + | between the motion of the joints of the manipulator and the resulting | ||
| + | motion of the rigid bodies which form the robot. This chapter gives a | ||
| + | description of the kinematics for a general <math>n</math> degree of freedom, | ||
| + | open-chain robot manipulator using the tools presented in {{ch|Rigid Body Motion}}. | ||
| + | We also present a brief treatment of redundant and parallel | ||
| + | manipulators using this same framework. | ||
| + | |||
| + | == Chapter Summary == | ||
| + | |||
| + | == Additional Information == | ||
Revision as of 02:05, 23 July 2009
| Prev: Rigid Body Motion | Chapter 3 - Manipulator Kinematics | Next: Robot Dynamics and Control |
The kinematics of a robot manipulator describes the relationship between the motion of the joints of the manipulator and the resulting motion of the rigid bodies which form the robot. This chapter gives a description of the kinematics for a general <math>n</math> degree of freedom, open-chain robot manipulator using the tools presented in Template:Ch. We also present a brief treatment of redundant and parallel manipulators using this same framework.
