Kinematics of Complex Robotic Mechanical Systems
Current robotic mechanical systems, encountered not only in research laboratories but also in production or construction environments, include robotic mechanical systems with features that deserve a chapter apart. Generically, we will call here complex robotic mechanical systems all such systems that do not fall in the category of those studied in Chapter 4. Thus, complex robotic mechanical systems are understood here as those systems of this kind that are either of the serial type but that do not allow a decoupling of the positioning and the orientation problems, or of type other than serial. Examples of the latter are parallel manipulators, dextrous hands, walking machines, and rolling robots. While redundant manipulators of the serial type fall within this category as well, we will leave these aside, for their redundancy resolution calls for a more specialized background than what we have either assumed or given here.
KeywordsParallel Manipulator Inverse Kinematic Spherical Joint Joint Rate Inverse Kinematic Solution
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