Kinetostatics of Simple Robotic Manipulators
This chapter is devoted to the kinetostatics of robotic manipulators of the serial type, i.e., to the kinematics and statics of these systems. The study is general, but with regard to what is called the inverse kinematics problem, we limit the chapter to decoupled manipulators, to be defined below. The inverse displacement analysis of general six-axis manipulators is addressed in Chapter 8.
KeywordsOperation Point Serial Manipulator Velocity Analysis Joint Variable Isotropic Manipulator
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