Difference between revisions of "Manipulator Kinematics"

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motion of the rigid bodies which form the robot.  This chapter gives a
 
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,
 
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}}.
+
open-chain robot manipulator using the tools presented in {{ch:Rigid Body Motion}}.
 
We also present a brief treatment of redundant and parallel
 
We also present a brief treatment of redundant and parallel
 
manipulators using this same framework.
 
manipulators using this same framework.

Revision as of 02:06, 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 Chapter 2 - Rigid Body Motion. We also present a brief treatment of redundant and parallel manipulators using this same framework.

Chapter Summary

Additional Information