Please use this identifier to cite or link to this item: http://hdl.handle.net/1880/45573
Title: KINEMATICS OF AN ELBOW MANIPULATOR WITH FOREARM ROTATION: THE EXCALIBUR
Authors: Heise, Rosanna
MacDonald, Bruce A.
Keywords: Computer Science
Issue Date: 1-Oct-1988
Abstract: General methods and typical specific solutions for robot arm geometry are well-known. This paper presents a detailed solution for a six joint manipulator which has a rotation at mid-forearm rather than a third wrist axis. Details are given indicating how real joint angles relate to those modeled by the more abstract kinematics. All degeneracies are considered and methods for handling them are given. The paper provides a complete tutorial for kinematic modeling with a specific arm.
URI: http://hdl.handle.net/1880/45573
Appears in Collections:MacDonald, Bruce

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