학술논문
Differential kinematics of serial manipulators using virtual chains
Document Type
article
Author
Source
Journal of the Brazilian Society of Mechanical Sciences and Engineering. December 2005 27(4)
Subject
Language
English
ISSN
1678-5878
Abstract
This paper presents a new approach to calculate the direct and inverse differential kinematics for serial manipulators. The approach is an extension of the Davies method for open kinematic chains based on a virtual kinematic chain concept introduced in this paper. It is a systematic method that unifies the kinematics of serial manipulators considering the type of kinematics and the coordinate system of the operational space and constitutes an alternative way to solve the differential kinematics for manipulators. The usefulness of the method is illustrated by applying it to an industrial robot.