Difference between revisions of "Manipulator Kinematics"

From MLSwiki
Jump to navigationJump to search
 
Line 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.

Chapter Summary

Additional Information