Fundamentals of Robotic Mechanical Systems pp 105-190 | Cite as
Kinetostatics of Simple Robotic Manipulators
Chapter
Abstract
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.
Keywords
Operation Point Serial Manipulator Velo City Analysis Joint Variable Inverse Kinematic Problem
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Copyright information
© Springer Science+Business Media New York 1997