Kinematic equations for industrial manipulators
Donald R. Myers
(Programmable Automation, Industrial Systems Division, National Bureau of Standards, Washington, D.C. 20234, U.S.A.)
Diana F. Gordon
(Programmable Automation, Industrial Systems Division, National Bureau of Standards, Washington, D.C. 20234, U.S.A.)
55
Abstract
A method for developing the kinematic equations of motion for a six degree‐of‐freedom manipulator is presented, which can be applied to most commercially available robots. Cartesian coordinate frames are assigned to each link so that the number of transcendental and arithmetic operations needed to transform from coordinates in one frame to any other frame is minimised.
Citation
Myers, D.R. and Gordon, D.F. (1982), "Kinematic equations for industrial manipulators", Industrial Robot, Vol. 9 No. 3, pp. 162-165. https://doi.org/10.1108/eb004524
Publisher
:MCB UP Ltd
Copyright © 1982, MCB UP Limited