Abstract
Kinematic modelling of manipulators plays an important role in contemporary robot control. It describes the relationship between robot end-effector position and orientation in space and manipulator joint angles. It also describes the correlation between linear and angular velocities of the end-effector and joint velocities. Since kinematic modelling is an inevitable step in modern robot control, in this chapter we will consider the main principles of manipulator kinematic model generation.
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© 1989 Springer-Verlag Berlin Heidelberg
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Kirćanski, M. (1989). Manipulator Kinematic Model. In: Introduction to Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-82997-0_2
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DOI: https://doi.org/10.1007/978-3-642-82997-0_2
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