Algorithmization of Kinematic Modelling of Industrial Robots
The paper advances the algorithmization of kinematic modelling of industrial robots by means of homogeneous translation, rotation and rotation-translation operators proposed in previous papers to simplify both thecalculation and the notations specific of the DenavitHartenberg method often employed in the kinematic analysis of robot mechanisms. The algorithm presented in the present paper is included in an expert system elaborated by the author for the simulation of the direct and inverse kinematics of industrial robots. The knowledge based modelling includes all industrial robots structures having axes of neighbouring couples parallel or orthogonal to each other and concurrent axes in the orientation chain.
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