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Search results with tag "Robot geometry and kinematics"
ROBOT GEOMETRY AND KINEMATICS
www.seas.upenn.eduRobot Geometry and Kinematics -7- V. Kumar When closed loops are present in the kinematic chain (that is, the chain is no longer serial, or even open), it is more difficult to determine the number of degrees of freedom or the mobility of
Kinematics of a planar 3R manipulator
www.seas.upenn.eduRobot Geometry and Kinematics -5- V. Kumar Equations (9-11) are the inverse kinematics solution for the 3-R manipulator. For a given end effector position and orientation, there are two different ways of reaching it, each corresponding to a different value of σ. These different configurations are shown in Figure 2. σ = +1 σ = -1 (x, y) φ