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ROBOT GEOMETRY AND KINEMATICS - Penn Engineering

V. Kumar -1- 5. Introduction to ROBOT GEOMETRY and KINEMATICS The goal of this chapter is to introduce the basic terminology and notation used in ROBOT GEOMETRY and KINEMATICS , and to discuss the methods used for the analysis and control of ROBOT manipulators. The scope of this discussion will be limited, for the most part, to robots with planar GEOMETRY . The analysis of manipulators with three-dimensional GEOMETRY can be found in any robotics text1.

5. Introduction to Robot Geometry and Kinematics The goal of this chapter is to introduce the basic terminology and notation used in robot geometry and kinematics, and to discuss the methods used for the analysis and control of robot manipulators. The scope of this discussion will be limited, for the most part, to robots with planar geometry.

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