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
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between the motion of the joints of the manipulator and the resulting
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motion of the rigid bodies which form the robot.  This chapter gives a
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description of the kinematics for a general <math>n</math> degree of freedom,
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open-chain robot manipulator using the tools presented in {{ch|Rigid Body Motion}}.
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We also present a brief treatment of redundant and parallel
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manipulators using this same framework.
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== Chapter Summary ==
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== 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.

Chapter Summary

Additional Information