Belzile, Bruno et St-Onge, David.
2022.
« How to manipulate? Kinematics, dynamics and architecture of robot arms ».
In
Foundations of Robotics: A Multidisciplinary Approach with Python and ROS.
pp. 265-297. Singapore : Springer Nature Singapore.
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Résumé
Learning Objectives: The objective at the end of this chapter is to be able to: • recognize the architecture and mobilities of a robot arm; • solve the forward and inverse kinematics problem of serial and parallel manipulators; • obtain the Jacobian relating the velocities of the joints to the end-effector; • analyze the Jacobian to obtain the different singularities and understand their physical meaning; • obtain the equations defining the dynamics of a robotic manipulator
| Type de document: | Chapitre de livre |
|---|---|
| ISBN: | 978-981-19-1983-1 |
| Éditeurs: | Éditeurs ORCID Herath, Damith NON SPÉCIFIÉ St-Onge, David NON SPÉCIFIÉ |
| Professeur: | Professeur St-Onge, David |
| Affiliation: | Génie mécanique |
| Date de dépôt: | 27 sept. 2022 13:59 |
| Dernière modification: | 26 oct. 2022 14:49 |
| URI: | https://espace2.etsmtl.ca/id/eprint/25419 |
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