Serial Mechanisms

  • Jadran Lenarčič
  • Tadej Bajd
  • Michael M. Stanišić
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 60)


Equations for the kinematic analysis of serial mechanisms are introduced. In order to reduce the necessary numerical computations, they are expressed in the form of iterative procedures. The direct and the inverse kinematics problems are formulated and solved. It is shown that in serial mechanisms, the direct kinematics problem is relatively simple to solve, while the inverse kinematics problem includes difficulties associated with the existence of a real solution, with multiple solutions, and with the convergence of iterative numerical procedures.


Angular Acceleration Translational Velocity Kinematic Equation Rotation Matrice Joint Center 
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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  • Jadran Lenarčič
    • 1
  • Tadej Bajd
    • 2
  • Michael M. Stanišić
    • 3
  1. 1.J. Stefan InstituteLjubljana-Vic-RudnikSlovenia
  2. 2.Faculty of Electrical EngineeringUniversity of LjubljanaLjubljana-Vic-RudnikSlovenia
  3. 3.Aerospace and Mechanical EngineeringNotre Dame UniversityNotre DameUSA

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