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Solving Robotic Kinematic Problems: Singularities and Inverse Kinematics

Author
Zaplana, I.
Type of activity
Theses
Other related units
Institute of Industrial and Control Engineering
Defense's date
2018-09-14
URL
http://hdl.handle.net/2117/168571 Open in new window
Abstract
Aplicat embargament des de la data de defensa fins al 30/6/2019 Kinematics is a branch of classical mechanics that describes the motion of points, bodies, and systems of bodies without considering the forces that cause such motion. For serial robot manipulators, kinematics consists of describing the open chain geometry as well as the position, velocity and/or acceleration of each one of its components. Rigid serial robot manipulators are designed as a sequence of rigid bodies, called links, conn...
Group of research
SIR - Service and Industrial Robotics

Participants

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