Difference between revisions of "Manipulator Kinematics"
From MLSwiki
Jump to navigationJump to searchLine 1: | Line 1: | ||
{{chapter header|Rigid Body Motion|Manipulator Kinematics|Robot Dynamics and Control}} | {{chapter header|Rigid Body Motion|Manipulator Kinematics|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 {{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.