Anthropomorphic Solid Structures n-R Kinematics

摘要

This paper presents and treats (in an original way) the specific elements of the structures of robotic solid mobile anthropomorphic type. Are "placed on the wallpaper", the geometry and kinematics of the anthropomorphic robotic solid systems, in an original vision of the authors. One presents the inverse kinematics of anthropomorphic systems, with mechanical elements and points: Geometry, cinematic, positions, displacements, velocities and accelerations. They will be presented further two methods (as the most representatives): First one the method trigonometric and second one the geometric method.