MANIPULATION
Kinematical Analysis on Three-DOF Cylindrical Industrial Manipulator
Ke Tao, Xu Wang
- Year
- 2011
- Citations
- 2
Abstract
Base on robot D-H method, the features of three-DOF cylindrical industrial manipulator are analyzed, the motion equation of robotic mechanisms are deduced by using coordinate transformation method and symbolic method. Then three-DOF cylindrical industrial manipulator inverse kinematics solving analytic formula is found. That provides a basis for the position and speed control of actual three-DOF cylindrical industrial manipulator.
Keywords
Manipulator (device)KinematicsIndustrial robotKinematics equationsPosition (finance)Base (topology)Basis (linear algebra)Inverse kinematicsParallel manipulatorControl theory (sociology)
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