Kinetostatics of Simple Robotic Manipulators

  • Jorge Angeles
Part of the Mechanical Engineering Series book series (MES)

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 
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.

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Copyright information

© Springer Science+Business Media New York 1997

Authors and Affiliations

  • Jorge Angeles
    • 1
  1. 1.Department of Mechanical Engineering and Centre for Intelligent MachinesMcGill UniversityMontréalCanada

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