Robot Kinematics and Dynamics

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Robot Kinematics and Dynamics
1010901101111610303001030900 Robot Kinematics and Dynamics
INTRODUCTION Robot arm kinematics deals with the analytic study of the motion of a robot arm with respect to a fixed reference coordinate system as a function of time. The mechanical manipulator can be modelled as an open loop articulated chain with several rigid links connected in series by either 'revolute' or 'prismatic' joints driven by the actuators. For a manipulator, if the position and orientation of the end-effector are derived from the given joint angl…
S. R. Deb; Sankha Deb: Robotics Technology and Flexible Automation, Second Edition. Robot Kinematics and Dynamics, Chapter (McGraw-Hill Professional, 2010), AccessEngineering Export