Abstract
To obtain control path operation the Denavit and Hartenburg co-ordinate frame method was applied to reduce the number of variables associated with each joint of a four axis cylindrical robot. This requires careful development of joint transformations. It was found that alternatively an additional co-ordinate frame may be assigned to overcome imprecise development of forward kinematic transformations. Inverse kinematics may then be developed and related to motion to achieve robot programming in the tool co-ordinate frame.
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References
Denavit, J. and Hartenburg, R.S. “A Kinematic Notation for Lower Pair Mechanisms Based on Matrices” Journal of Applied Mcchanics,pp 215–221, (1955)
Ranky,P.G. and Ho,C.Y. “Robot Modeling Control and Application Software” IFS (Publications) Ltd UK (1985)
Wolovich,W.A. “Robotics: Basic Analysis and Design” CBS College Publishing N.Y. (1987)
Finn, M. “M.Tech Thesis”University of Limerick (1991)
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© 1992 Springer Fachmedien Wiesbaden
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Finn, M., Howard-Hildige, R., Hillery, M. (1992). Application of Denavit and Hartenburg Co-Ordinate Frame to Robot Kinematics in a Flexible Manufacturing Cell. In: Hodnett, F. (eds) Proceedings of the Sixth European Conference on Mathematics in Industry August 27–31, 1991 Limerick. European Consortium for Mathematics in Industry. Vieweg+Teubner Verlag, Wiesbaden. https://doi.org/10.1007/978-3-663-09834-8_25
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DOI: https://doi.org/10.1007/978-3-663-09834-8_25
Publisher Name: Vieweg+Teubner Verlag, Wiesbaden
Print ISBN: 978-3-663-09835-5
Online ISBN: 978-3-663-09834-8
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