A series robot with n joints will have n +1 links. Numbering of links starts from (0) for the immobile grounded base link and increases sequentially up to (n) for the end-effector link. Numbering of joints starts from 1, for the joint connecting the first movable link to the base link, and increases sequentially up to n. Therefore, the link (i) is connected to its lower link (i − 1) at its proxi7nal end by joint i and is connected to its upper link (i + 1) at its distal end by joint 2 + 1, as shown in Figure 5.1.
KeywordsTransformation Matrix Coordinate Frame Revolute Joint Joint Variable Rest Position
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
Unable to display preview. Download preview PDF.
- Asada, H., and Slotine, J. J. E., 1986, Robot Analysis and Control, John Wiley & Son, New York.Google Scholar
- Ball, R. S., 1900, A Treatise on the Theory of Screws, Cambridge University Press, USA.Google Scholar
- Bernhardt, R., and Albright, S. L., 2001, Robot Calibration, Springer, New York.Google Scholar
- Mason, M. T., 2001, Mechanics of Robotic Manipulation. MIT Press, Cambridge, Massachusetts.Google Scholar
- Paul, R. P.. 1981, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Massachusetts.Google Scholar
- Schilling, R. J., 1990, Fundamentals of Robotics: Analysis and Control, Prentice Hall, New Jersey.Google Scholar
- Spong, M. W., Hutchinson, S., and Vidyasagar, M., 2006. Robot Modeling and Control, John Wiley & Sons, New York.Google Scholar
- Suh, C. H-, and Radcliff; C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons, New York.Google Scholar
- Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.Google Scholar
© Springer Science+Business Media, LLC 2007