Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory

Kinematic analysis is a significant method when planning the trajectory of robotic manipulators. The main idea behind kinematic analysis is to study the motion of the robot based on the geometrical relationship of the robotic links and their joints, such as the Denavit-Hartenberg parameters. Given t...

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Veröffentlicht in:	Mathematical problems in engineering 2015-01, Vol.2015 (2015), p.1-7
Hauptverfasser:	Wei, Hongxing, Guan, Yong, Wu, Minhua, Li, Yongdong, Shi, Zhiping, Wu, Aixuan, Zhang, Jie
Format:	Artikel
Sprache:	eng
Schlagworte:	Information science Kinematics Manipulators Mathematical analysis Methods Robot arms Robot dynamics Robotics Robots Screw theory Screws Theorem proving Trajectory analysis Trajectory planning Velocity
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