A kinematic structure-based classification and compact kinematic equations for six-dof industrial robotic manipulators

Mechanism and Machine Theory

Volumn 36, Issue 7, 2001, Pages 817-832

  Balkan, Tuna ^a   Kemal Ozgoren M ^a   Sahir Arkan, M A ^a   Murat Baykurt, H ^a  

^a MIDDLE EAST TECHNICAL UNIVERSITY   (Turkey)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; INDUSTRIAL ROBOTS; INVERSE KINEMATICS; PROBLEM SOLVING; ROBOTICS;

KINEMATIC STRUCTURE-BASED CLASSIFICATION;

MANIPULATORS;

EID: 0035398076     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0094-114X(01)00025-8     Document Type: Article

References (13)

1. Inverse kinematics of the general 6R manipulator and related linkages
2. Structural kinematics of 6-revolute-axis robot manipulators
3. A complete kinematic analysis of four-revolute-axis robot manipulators
4. Application of exponential rotation matrices to the kinematic analysis of manipulators
5. Position and velocity related singularity analysis of manipulators
6. Some remarks on rotation sequences and associated angular velocities
7. Kinematic analysis of a manipulator with its position and velocity related singular configurations
8. The particular or the general (some examples from robot kinematics)
9. A kinematic notation for lower-pair mechanisms based on matrices
10. A method of inverse kinematics solution for a class of robotic manipulators
11. A method of inverse kinematics solution including singular and multiple configurations for a class of robotic manipulators